New Davis 346 corrupted grey scale frames

[Pau Marquez Julbe]

Hello,

I'm using a new Davis 346, and I found that the grey scale image has lines that should not be there (see image attached). These lines/corruptions change depending on the light.

Does anyone know what could be the cause, or if there is anything I can change in the settings that can fix this issue?

Thank you very much in advance.

Best,
Pau

[Pierre Giraud]

Hi Pau,

This problem could be caused by either a too powerful light source in the scene or a wrong setting of the exposure (auto exposure / custom exposure).

You can change this setting:

• In DV, through the capture module's settings ("Exposure")
• In dv-processing, using the following instructions: https://dv-processing.inivation.com/rel_1.7/reading_data.html#configuring-camera-options
  

Let us know if this helped in any way.

Best Regards,

--

Pierre Giraud

Software Engineer

iniVation AG

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Subject: [dv-users] New Davis 346 corrupted grey scale frames

 

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[Pau Marquez Julbe]

Dear Giraud,

Thank you very much for your quick answer. I am not sure it has to do with the exposure, as I only encounter this issue when using the rpg_dvs_ros drivers.

When I use the DV software, or the official Inivition ROS drivers, the lines do not show and the frames look correct.

Still, I have a question regarding the auto exposure parameters, since it is working really bad for me in the Inivation ROS drivers. When using the DV software it works well, since the exposure parameters are pretty low and new light is not overwhelming the camera. However, the auto exposure parameters from the ROS drivers keep the exposure way too high (when using auto exposure).

I wanted to change these parameters in the ROS drivers, but seems like it is a compile parameter in this libcaer file, so not easy to customize.

Can someone advise me on how to set proper exposure (also in general) parameters in any ROS driver for the Davis 346 camera? I know I can record it in the DV software, but I'll need to deploy it using ROS in real time, so that's not an option afaik.

Thank you very much for your time.

Best regards,

Pau

[Luca Longinotti]

Hello, the lines you get in the rpg Ros driver output seem to indicate global shutter mode is turned off. Rolling shutter mode does not work well and should usually never be used. I don't know if that's a setting in the rpg Ros driver you can change.

Auto exposure should be the same in our Ros driver and DV, they call the exact same functions in libcaer as far as I know.

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From: dv-u...@googlegroups.com <dv-u...@googlegroups.com> on behalf of Pau Marquez Julbe <pmarque...@gmail.com>

Sent: Tuesday, October 3, 2023 11:34:52 AM
To: dv-users <dv-u...@googlegroups.com>
Subject: Re: [dv-users] New Davis 346 corrupted grey scale frames

 

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[Pau Marquez Julbe]

Dear Luca,

I changed the configuration in the rpg ros drivers, and I believe the global shutter is enabled by default (also in the picture of the previous post here), and the dead pixel lines still appear.

I set the rolling shutter by adding this line of code in the rpg_dvs_ros drivers:

  caerDeviceConfigSet(davis_handle_, DAVIS_CONFIG_APS, DAVIS_CONFIG_APS_GLOBAL_SHUTTER, false);

and the result is as shown in the attached picture.

Do you have any suggestion on how to solve it?

Note that the image is varying in size as well, by few pixels. I believe that when the dead pixel lines fall in the edge of the frame, it is just varying its size.

Thank you very much in advance.

Best,

Pau

[Pau Marquez Julbe]

[Luca Longinotti]

Hi, I don't know why the rpg_ros_driver is failing for you, while the others work.

That means it's not a camera problem. In any case, don't use rolling shutter, it has a lot of issues and worse quality, it was just a suggestion to test.

I would suggest using our ROS driver, which you said works fine.

You can set exposure manually with it without recompiling, it should be enough to edit:

dv_ros_capture/config/dynamic.yaml

and change auto_exposure to false and exposure to the wanted value.

-- 

Luca Longinotti (llongi)

Head of Embedded Platforms
iniVation AG - https://inivation.com/
Zurich, Switzerland
Office: +41 44 500 32 14

Dear Giraud,

Thank you very much for your quick answer. I am not sure it has to do with the exposure, as I only encounter this issue when using therpg_dvs_ros drivers.

When I use the DV software, or the official Inivition ROS drivers, the lines do not show and the frames look correct.

Still, I have a question regarding the auto exposure parameters, since it is working really bad for me in the Inivation ROS drivers. When using the DV software it works well, since the exposure parameters are pretty low and new light is not overwhelming the camera. However, the auto exposure parameters from the ROS drivers keep the exposure way too high (when using auto exposure).

I wanted to change these parameters in the ROS drivers, but seems like it is a compile parameter in thislibcaer file, so not easy to customize.