Overexposure issue in OAK-D W PoE Ros driver

OlaElmaghraby

I am collecting data using OAK-D W PoE and the image is over-exposed. I am suspecting the issue is with the exposure parameters in the depthAI ros driver. Here is a sample of the images that I have recorded, the OAK-D W PoE is the image on the right and i was expecting something like the left image.

There is a parameter for the exposure offset named "i_add_exposure_offset: true" then specify the offset using "i_exposure_offset: 0" and replace 0 with the offset value. I am assuming that this value is needed for this camera to operate properly. Is there any documentation available for that given the dynamic range of outdoor image capturing I encounter in my experiments?

I am using ros1 noetic and here is the yaml file for the camera:

/oak_d_left:

camera_i_enable_imu: true

camera_i_enable_ir: false

camera_i_floodlight_brightness: 0.0

camera_i_ip: '192.168.1.221'

camera_i_laser_dot_brightness: 800.0

camera_i_mx_id: ''

camera_i_nn_type: ''

camera_i_pipeline_type: RGBStereo

camera_i_usb_port_id: ''

camera_i_usb_speed: SUPER_PLUS

nn_i_nn_config_path: ''

rgb_i_low_bandwidth: true

left_i_low_bandwidth: true

right_i_low_bandwidth: true

rgb_i_low_bandwidth_quality: 100

left_i_low_bandwidth_quality: 100

right_i_low_bandwidth_quality: 100

rgb_i_fps: 20

left_i_fps: 20

right_i_fps: 20

i_publish_tf_from_calibration: true

i_publish_synced_rect_pair: true

camera_i_resolution: 720P

i_fsync_trigger: true

jakaskerl

Hi OlaElmaghraby
Is the autoexposure active? In that case (3A would be messing with the image quality) you need to add the exposure compensation which is not exposed in the driver yet.

If you can, I'd manually set the exposure time using r_exposure and r_iso.

Thanks,
Jaka

OlaElmaghraby

Thanks jakaskerl

yes, the autoexposure is active and I can't set it to manual because of the dynamic nature of the outdoors. I have two questions though.

since the compensation part is not exposed yet, where in the src code can I change it manually?
the 3A meaning also autofocus right?

if yes, would changing the focus automatically change the camera calibration parameters every time the focus changes?

if yes, would that change be published in the camera info topic?

Thanks for help,

Ola

jakaskerl

Hi @OlaElmaghraby

You can change it in depthai-core (I assume that's what you mean by source code), by setting CameraControl::AutoExposureCompensation (https://docs.luxonis.com/software/api/cpp/).
Yes. No, the intrinsics stay the same as far as I'm aware.

Thanks,
Jaka