Exclude post by format in sitemap

Hi,

I’m currently looking for a snippet on how to exclude posts on the sitemap via post format filter.

What I can only find is exclude posts by id, like the one below.

/**
 * Excludes posts from XML sitemaps.
 *
 * @return array The IDs of posts to exclude.
 */
function exclude_posts_from_xml_sitemaps() {
    return [ 1, 2, 3 ];
}

add_filter( 'wpseo_exclude_from_sitemap_by_post_ids', 'exclude_posts_from_xml_sitemaps' );

Is there an option or filters return all IDs by post format?