White Balancing for Underwater Scenes Too Blue

JackMead

Hi I am the owner and maintainer of the Madrona software extension for the BlueROV:

https://gitlab.com/marinesitu-public/madrona/madrona
https://madrona.marinesitu.io/

This web platform allows a user to bring in an OAK-D S2 POE FF camera in a custom enclosure and record snapshots underwater. From the platform, a user can also specify all the manual white balancing settings including exposure, white balance color, luma, chroma, etc. It utilizes DepthAI version 2.29.0.0.

Below I have attached some pictures regarding a recent mission we performed at around 8 meters of depth. The first image here shows manual white balance set to the maximum warmth. We had the ROV on the dock.

We then set auto white balancing on, submerged the ROV, and recorded the snapshot at the bottom. The result is a sub-optimal very green hue.

Next, we activated manual white balance setting it to it's warmest shade. But the result is still far too blueish.

My questions are basically in relation to the best optimal settings for underwater scenes, or if there is any firmware changes coming down the pipeline that would address these types of scenes. I have reviewed these links before posting:
https://docs.luxonis.com/hardware/platform/sensors/image-quality
https://discuss.luxonis.com/d/3567-underwater-camera-oak-d-poe/3
https://discuss.luxonis.com/d/3880-color-very-blueish-color-gradeexposure-settings

jakaskerl

JackMead
We could do some tweaks to the white balance - but first, can you let me know how you would want the picture to look like? Your current pipeline would help as well.

Thanks,
Jaka

JackMead

Yes actually. We had another mission in Hawaii blue waters and it is very clear from the different algorithms utilized. The OAK is here (utilizing auto white balancing)

Whereas the mounted ROV camera looks like (also utilizing auto white balancing)

During this mission, we utilize 3 different cameras and the white balancing is very distinctively different:

The pipeline is dynamic but the setup is here: https://gitlab.com/marinesitu-public/madrona/madrona/-/blob/main/server/src/profiles/CockpitViewer.py?ref_type=heads#L332

To modify camera controls, I perform the following: https://gitlab.com/marinesitu-public/madrona/madrona/-/blob/main/server/src/oak_util.py?ref_type=heads#L187

Thank you so much for the reply. Let me know your thoughts. I'd love to see a different scene like dai.CameraControl.AutoWhiteBalanceMode.CLEAR_WATER

and/or dai.CameraControl.AutoWhiteBalanceMode.GREEN_WATER

OskarSonc

JackMead - could you provide us with your email address? We would like to discuss this further with you. You can just write me an email on this address: oskar.sonc@luxonis.com

Thanks,
Oskar