public static CameraProxy getCameraProxy(MavLinkDrone drone, List<CameraDetail> cameraDetails) {
final CameraDetail camDetail;
final FootPrint currentFieldOfView;
final List<FootPrint> proxyPrints = new ArrayList<>();
if (drone == null) {
camDetail = new CameraDetail();
currentFieldOfView = new FootPrint();
} else {
Camera droneCamera = drone.getCamera();
camDetail = ProxyUtils.getCameraDetail(droneCamera.getCamera());
List<Footprint> footprints = droneCamera.getFootprints();
for (Footprint footprint : footprints) {
proxyPrints.add(CommonApiUtils.getProxyCameraFootPrint(footprint));
}
Gps droneGps = (Gps) drone.getAttribute(AttributeType.GPS);
currentFieldOfView =
droneGps != null && droneGps.isValid()
? CommonApiUtils.getProxyCameraFootPrint(droneCamera.getCurrentFieldOfView())
: new FootPrint();
}
return new CameraProxy(camDetail, currentFieldOfView, proxyPrints, cameraDetails);
}
private static double getDroneAltConstrained(MavLinkDrone drone) {
final Altitude droneAltitude = (Altitude) drone.getAttribute(AttributeType.ALTITUDE);
double alt = Math.floor(droneAltitude.getAltitude());
return Math.max(alt, getDefaultMinAltitude(drone));
}