ANAFI Camera FoV and Resolution

ANAFI USA / ANAFI Thermal / ANAFI 4K
1

Hi,

I am working on a control code for parrot Anafi drone that moves the drone from point A to point B while recording a video along the motion, followed by downlinking the recorded video to a laptop after the flight. In order to design the flight I needed information on two of Anafi camera parameters, specifically:

  1. Field of View (FoV)
  2. Camera Resolution

FoV: Although I could not get this information directly, some vendors list this parameter as 69 deg in the horizontal direction. So the first question I have is: Is the horizontal FoV a constant value of 69 deg for all ANAFI Camera resolution modes (ie 4k, 1080p, 480p, etc)?

Camera Resolution: For a while the drone downloaded videos that were of 4k resolution (3840x2160 pixels). However, after a recent drone firmware update on 3/6/20 from the free-flight app, the drone now defaults to a video recording resolution of 1080p (1920x1080 pixels). Is there a method where I can set the drone’s default recoding resolution to 3840x2160 pixels using the Olympe commands?

Any help would be very invaluable. Thank you very much for your time.

2

Here is the info from R&D :

video mode 4K30, no zoom

  • Image width = 3840 pixels
  • Image height = 2160 pixels
  • Focal length = 2793.62 pixels

Photo mode rectified, no zoom

  • Image width = 4608 pixels
  • Image height = 3456 pixels
  • Focal length = 2975.66 pixels

Focals value in pixel, as the image is always reprojected on the sensor.

Without reprojection (raw wide/fisheye picture)

Sensor :

Number of active pixels: 5344 (H) × 4016 (V) approx. 21.46 M pixels

Pixel size: 1.12 μm (H) × 1.12 μm (V)

Lens:

Fisheye camera model: distortion ~ f * theta

Focal length: f = 4.05e-3mm

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3

Hi,

Yes, there is this set_recording_mode command message :
https://developer.parrot.com/docs/olympe/arsdkng_camera.html?highlight=set_recording_mode#olympe.messages.camera.set_recording_mode
Usage example:

drone(set_recording_mode(
    cam_id=0,
    mode="standard",
    resolution="res_uhd_4k",
    framerate="fps_30",
    hyperlapse="ratio_15"  # ignored in standard recording mode
)).wait(_timeout=2.).success()

Regards

Nicolas

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4

Thank you very much @Jerome and @ndessart for the helpful information. I guess the information clarifies the question regarding changing the video record mode.

Do you have any comments on the Angular Field of View of the Anafi Camera ? --Is 69 deg Horizontal FoV still an accurate value for the FoV ? , and is this constant for all modes ?

Sincerely,
Ravi

5

Hey @rnallapu I found some info you might find useful in the technical specs section near the bottom of this page: https://www.parrot.com/global/drones/anafi

These are the parts that might help

Video resolution :
    4K Cinema 4096x2160 24fps
    4K UHD 3840x2160 24/25/30fps
    FHD 1920x1080 24/25/30/48/50/60fps
    Video HFOV: 69°

Photo resolution :
    Wide: 21MP (5344x4016) / 4:3 / 84° HFOV
    Rectilinear: 16MP (4608x3456) / 4:3 / 75.5° HFOV

I would be careful with the 69* FOV for video though, 4K cinema vs. 4K UHD have the same pixel dimensions in the Y direction but NOT in the X direction…

I do have a few somewhat related questions. @Jerome I did the same math as you did to get the focal length pixels from HFOV, but I wanted to take it a step further to get DFOV. Did you get 88.128* as well?

I’m also somewhat confused by your comment re: reprojection and distortion. Did you mean if you were to calculate things using physical lengths as opposed to using the pixels?

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