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    IMX377 M12 Sensor Over saturated on G channel

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    • Bobby BukovecB
      Bobby Bukovec
      last edited by

      Hello,

      We have used all three of Modal AI's Hires sensors:

      4k High-resolution Sensor for VOXL (10x10x16mm)
      4k High-resolution Sensor for VOXL (8x8x5.8mm)
      4k High-resolution Sensor for VOXL (IMX377 M12-style Lens)
      All of these are plug-and-play, but the IMX377 sensor seems to be way more saturated on the green channel. We have two IMX377 sensors and both have the same saturation issue.

      Has anyone else had this problem before/ know how to easily fix this?

      Please let me know!

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      • Chad SweetC
        Chad Sweet ModalAI Team
        last edited by

        We will look into it, it's definitely not an easy fix. What is the application? Maybe we can find a quicker workaround

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        • Bobby BukovecB
          Bobby Bukovec
          last edited by

          Chad,

          I appreciate the quick response!

          I guess I do not understand why the sensor would be sold like this? What is the application of such an oversaturated sensor? If this would be easier to talk about over the phone, I would be open to a conversation.

          We would like to use this sensor to test several different focal length Arducam lenses. Out of the three ModalAI Hires Sensors, this one allows the most flexibility with lenses.

          1 Reply Last reply Reply Quote 0
          • Chad SweetC
            Chad Sweet ModalAI Team
            last edited by

            The auto white balance is likely reacting to something funny in your environment. Are you in a lab with LED lighting? LED lighting can often cause a problem.

            Bobby BukovecB 1 Reply Last reply Reply Quote 0
            • Alex KushleyevA
              Alex Kushleyev ModalAI Team
              last edited by

              Hello Bobby,

              I have done a quick comparison of IMX377 camera with Iphone X. In this test I took a picture of a color wheel using both cameras in the same lighting conditions. Please see images below - I believe the color quality is comparable, though IMX377 image is a bit brighter overall and not focused very well. It does not look like there is too much green. I used the following pattern for testing : https://www.amazon.com/gp/product/B00F1YEEHA -- I suggest that you do similar comparison and see if the colors look acceptable.

              Let us know if you have additional questions.

              Alex


              IMX377
              imx377_color_wheel.jpg

              Iphone X
              iphone_x_color_wheel.jpg

              Bobby BukovecB 1 Reply Last reply Reply Quote 0
              • Bobby BukovecB
                Bobby Bukovec @Chad Sweet
                last edited by

                @Chad-Sweet said in IMX377 M12 Sensor Over saturated on G channel:

                ronmen

                Hi Chad,

                Both in an office space and when outside we have the same saturation issue.

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                • Bobby BukovecB
                  Bobby Bukovec @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev

                  Thank you for this input. I am slightly confused. This is an image from a video taken outdoors flight testing. 2020-11-05_10-44-41.png

                  Where as this second image is from the same day roughly 10 minutes apart using 4k High-resolution Sensor for VOXL (10x10x16mm).

                  2020-11-05_10-50-37.png

                  Please excuse the under exposure, it was a cloudy day and we did not have the exposure set correctly.
                  Maybe this is not just a saturation issue? Let me know your thoughts.

                  Best,
                  Bobby

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                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team
                    last edited by Alex Kushleyev

                    What software are you using to record the video? Can you please try testing with auto exposure and auto white balance enabled? I believe the AE and AWB work together in some sense, so if you have AE disabled, AWB may not kick in if the right conditions are not met (e.g. too dark, like it seems in both of your tests)

                    Bobby BukovecB 1 Reply Last reply Reply Quote 0
                    • Bobby BukovecB
                      Bobby Bukovec @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev

                      We are using rosbag to record the video.

                      How exactly can we enable AE and AWB with voxl_cam_ros, found here https://docs.modalai.com/voxl-cam-ros/

                      I was not aware this was something we can just turn on?

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                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team
                        last edited by

                        Please try using voxl-rtsp tool which can record a video and will have AE and AWB enabled by default (-h for help). voxl-rtsp comes with the software bundle, also found here : https://gitlab.com/voxl-public/voxl-rtsp

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                        • Alex KushleyevA
                          Alex Kushleyev ModalAI Team
                          last edited by

                          If you want voxl-cam-ros to use auto exposure, you should comment out these two lines here : https://gitlab.com/voxl-public/voxl-cam-manager/-/blob/master/src/SnapdragonCameraManager.cpp#L188

                          params_.setManualExposure(exposure_setting_);
                          params_.setManualGain(gain_setting_);

                          The default setting is auto exposure. The auto white balance should be enabled by default, but like I said previously it may not kick in unless the right image brightness conditions are met (using auto exposure).

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                          • Chad SweetC
                            Chad Sweet ModalAI Team
                            last edited by

                            FYI, docs updated here: https://docs.modalai.com/voxl-cam-ros/

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                            • Bobby BukovecB
                              Bobby Bukovec
                              last edited by

                              @Alex-Kushleyev @Chad-Sweet

                              Hey guys, so good news. With your support we are able to turn on both AWB and AE on both the IMX214 Sensor and the IMX377 sensor.

                              The IMX377 sensor is still more saturated than the other sensor. Please see the pictures below.

                              All settings are exactly the same for both the IMX 377 and IMX 214 sensors

                              IMX 377 Color Wheel
                              target-imx377.png

                              IMX 214 Color Wheel
                              target-imx214.png

                              IMX 377 Outdoors
                              outside-imx377.png

                              IMX 214 Outdoors
                              outside-imx214.png

                              Any thoughts?

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                              • Alex KushleyevA
                                Alex Kushleyev ModalAI Team
                                last edited by Alex Kushleyev

                                Nice, some progress..

                                I do see the colors being off in the image. The indoor image (IMX377) with the color wheel looks too "warm".

                                Did you try using voxl-rtsp to record the video? please try, just to double check that you get the same results. Since you are using a ros node, which converts from YUV format to RGB (before encoding as a video), it is possible that the format conversion is not accurate. voxl-rtsp will record the video natively using the built-in hardware video encoder.

                                Also, just to double check, are you using a lens with IR cut filter? If there is no IR cut filter, the image sensor can get saturated with ambient IR light across all colors (not necessarily equally).

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                                • Chad SweetC
                                  Chad Sweet ModalAI Team
                                  last edited by

                                  I just checked with our supplier, there is a 650nm IR FILTER

                                  1 Reply Last reply Reply Quote 0
                                  • Alex KushleyevA
                                    Alex Kushleyev ModalAI Team
                                    last edited by

                                    Is the filter inside the lens holder or in the lens itself? I think different lenses might be tested here.

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                                    • Alex KushleyevA
                                      Alex Kushleyev ModalAI Team
                                      last edited by

                                      Hi Bobby,

                                      I did some more testing and it seems i can get the IMX377 camera to produce green-ish shades under some lighting conditions. I believe that this is due to AWB somehow incorrectly detecting the scene / lighting type. Let me play with this, I think the solution can be to force a particular scene type so that AWB does not try to guess.

                                      In my tests, I pointed the camera at a light gray wall and depending on the angle, it would show up as gray or sometimes a bit green-ish.

                                      I will follow up soon..

                                      Alex

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                                      • JP DroneJ
                                        JP Drone
                                        last edited by

                                        Hello,
                                        I have the same green-ish problem of IMX377.
                                        It's also happened in voxl-camera-server v1.1.3 with AWB enabled.
                                        Are there any plans to improve it in the future?

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                                        • JP DroneJ
                                          JP Drone
                                          last edited by

                                          When the Gain drop, image turn to Green-ish.
                                          Do you have plan to release WB setting feature?
                                          It would be very useful to be able to change WB from config setting file without changing the source.

                                          image1.png
                                          image2.png

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                                          • Alex KushleyevA
                                            Alex Kushleyev ModalAI Team
                                            last edited by

                                            Hello @JP-Drone , thank you for bringing this to our attention (again).

                                            I have been looking at improving AWB control some time ago but did not finish. I do agree there is an issue and it arises from the ISP configuration not tuned well for the specific camera. The tuning process is complicated and there is no open source API, but I am hoping that I can make a simple configuration or expose a few parameters to control AWB settings.

                                            Please note that to complicate things even further, the AWB performance / tuning is currently dependent on the image brightness -- there are ISP tuning parameters for color normalization, etc across different gain ranges.

                                            Just to help me a little bit, can you please provide the exact camera part number and gain values you used for the two images?

                                            I will bump this up in priority a bit and will try to address soon.

                                            JP DroneJ 1 Reply Last reply Reply Quote 0
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