DJIVisionDetectionState
extends Object| java.lang.Object | |
| ↳ | dji.common.flightcontroller.DJIVisionDetectionState |
Class Overview
This class gives state information about the product's vision sensors used for obstacle detection. The two types of sensors used are dual camera sensors operating in the visible spectrum (dual-camera sensor) and infrared time of flight (TOF) sensors. Note, Inspire 2's upward facing infrared TOF sensor is not returned in this state. It is accessed through `DJIVisionControlState`.
Summary
| Public Constructors | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DJIVisionDetectionState(boolean isVisionSencorWorking, boolean isBraking, double obstacleDistanceInMeters, DJIVisionSystemWarning warningLevel, List<DJIVisionDetectionSector> forwardObstacleInfos, DJIVisionSensorPosition position) | |||||||||||
| Public Methods | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| List<DJIVisionDetectionSector> |
getDetectionSectors()
A dual-camera vision sensor can see an area with a 60-degree horizontal
field of view (FOV) and 55-degree vertical FOV.
| ||||||||||
| double |
getObstacleDistanceInMeters()
The distance to the closest detected obstacle in meters.
| ||||||||||
| DJIVisionSensorPosition |
getPosition()
The vision sensor's position on the aircraft.
| ||||||||||
| DJIVisionSystemWarning |
getSystemWarning()
Obstacle detection warning level for the vision sensor.
| ||||||||||
| boolean |
isBraking()
This method is deprecated.
Use `isBraking` in `DJIVisionControlState` instead.
| ||||||||||
| boolean |
isSensorWorking()
true if the vision sensor is working. | ||||||||||
|
[Expand]
Inherited Methods | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
From class
java.lang.Object
| |||||||||||
Public Constructors
public DJIVisionDetectionState (boolean isVisionSencorWorking, boolean isBraking, double obstacleDistanceInMeters, DJIVisionSystemWarning warningLevel, List<DJIVisionDetectionSector> forwardObstacleInfos, DJIVisionSensorPosition position)
Public Methods
public List<DJIVisionDetectionSector> getDetectionSectors ()
A dual-camera vision sensor can see an area with a 60-degree horizontal field of view (FOV) and 55-degree vertical FOV. The horizontal FOV is split into four equal sectors and this array contains the distance and warning information for each sector. Phantom 4, Mavic Pro and Inspire 2 have one dual-camera vision sensor in the nose of the aircraft. For Phantrom 4 Pro, the dual-camera vision sensors are on the nose and the tail. It is nil if it is an infrared sensor or the sensor is not working properly.
public double getObstacleDistanceInMeters ()
The distance to the closest detected obstacle in meters. It is only used when the sensor is an infrared TOF sensor. The valid range is [0.3, 5.0]. Phantom 4 Pro has two infrared sensors on the left and right of the product. Both sensors have a 70-degree horizontal field of view (FOV) and 20-degree vertical FOV. The value is always 0.0 if the sensor is a dual-camera sensor or the sensor is not working properly.
public DJIVisionSensorPosition getPosition ()
The vision sensor's position on the aircraft. For Phantom 4 Pro, there are 4 vision sensors on the aircraft. The sensors on the nose and tail are dual-camera sensors. The sensors on the left and right are infrared time-of-flight (TOF) sensors.
public DJIVisionSystemWarning getSystemWarning ()
Obstacle detection warning level for the vision sensor. Note: dual-camera vision sensors have a field of view (FOV) split into sectors. This warning level is a combination of all sectors.
public boolean isBraking ()
This method is deprecated.
Use `isBraking` in `DJIVisionControlState` instead.
true if the aircraft is braking automatically to avoid collision.
public boolean isSensorWorking ()
true if the vision sensor is working.