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The images from Bumblebee 2 is noisy

asked 2014-11-23 13:55:15 -0500

lood339 gravatar image

Hi, I capture an image from Bumblebee 2 (mono8 from mono 16 raw data). It looks like that: https://dl.dropboxusercontent.com/u/5... It looks very noisy. Are they supposed to noisy like that ? Or have to adjust some parameters? Thanks.

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I haven't used the bumblebee before, but that looks sort of like a raw bayer-pattern image. Have you tried passing it through a debayering node/nodelet?

ahendrix gravatar image ahendrix  ( 2014-11-23 15:55:45 -0500 )edit

I tried to do debayering. But it returns error. My understanding is that mono image does not need to do debayer? Am I right? I do err = dc1394_deinterlace_stereo_frames(frame, &decodeFrame, DC1394_STEREO_METHOD_INTERLACED); it returns success.

lood339 gravatar image lood339  ( 2014-11-23 22:46:14 -0500 )edit

I'm not familiar with the API you're referring to. You may want to consult the manufacturer's docs or wait for someone more knowledgeable to come along.

ahendrix gravatar image ahendrix  ( 2014-11-23 23:06:09 -0500 )edit
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Also... is this actually related to ROS?

ahendrix gravatar image ahendrix  ( 2014-11-23 23:12:06 -0500 )edit

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answered 2014-11-24 10:38:23 -0500

Miquel Massot gravatar image

@ahendrix is right, the first image is a bayer pattern, and the other image posted looks as if the data stream was not correctly gathered or that different color channels are shown in grayscale.

We implemented a driver for a Bumblebee 2 camera some time ago. We are still using and maintaing it. I recommend you that you run it and see what happens. The node is available at http://www.ros.org/wiki/camera1394stereo .

Run the stereo_camera.launch together with an stereo_image_proc node and subscribe with an image_viewer. If the problem persists I would contact PointGrey support.

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answered 2014-11-23 17:57:30 -0500

lood339 gravatar image

It is strange that the camera has 4 different exposure at the same time. https://dl.dropboxusercontent.com/u/5... The picture is from the raw data.

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Are you sure this isn't 4 channels from a color camera?

ahendrix gravatar image ahendrix  ( 2014-11-23 19:52:21 -0500 )edit

Yes. I set the dc1394video_mode_t mode = DC1394_VIDEO_MODE_1024x768_MONO16. The raw data is Mono16. I separate it too two mono 8 image. If it is color image, the 3 channels will look very different.

lood339 gravatar image lood339  ( 2014-11-23 22:44:31 -0500 )edit

Please do only post answers as answers. For comments post comments and for additional information regarding your question update your question.

BennyRe gravatar image BennyRe  ( 2014-11-24 01:47:01 -0500 )edit

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Asked: 2014-11-23 13:55:15 -0500

Seen: 169 times

Last updated: Nov 24 '14