Occam Exposure Calibration

[belgiumkansas]

Currently the Occam white balance and exposure settings with vary colors considerably depending on lighting conditions and whats in frame. We need a way to keep consistent colors for CV.

Current thinking is come kind of color calibration card on the nose of the sub where it is in frame of Occam camera 0. Then that gets feed into a node running on the sub that makes sure the Occam parameters are set in such a way that we have consistent color for CV as it white balances etc.

[skhadem]

Lol this issue has been a pain for so long

[DrYerzinia]

Potential solutions:

• Control loop that adjusts the gain to set the intensity of a know object like the nose of the sub to a predetermined value. This may have issues in conditions where the obstacle is directly illuminated but the sub is in darkness.
• OCCAM has built in auto exposure but this tends to set it to be a bit bright, see if we can adjust it so it gives better results
• Consider the mean value of the pixels of interest in the scene. This might be compute intensive. Do every few frames? All cameras use the same exposure so we cant do this on a per camera basis.
• Use a histogram approach to change the light curve to minimize overexposure.

As part of this we should look at how we can adjust its target goal based on data collected from an autonomous run.