Issue with streaming video from Intel Aero Realsense camera

[roha]

Hello,

I am trying to run your program on your website to stream video from the Intel Aero Drone to QGC on my laptop. I have attached a pic of it. The video quality is not right and I was wondering if you can tell me what setting on the realsense camera needs to be changed or tweaked in order to see good video.

Thanks

Rohan

[roha]

Looks like the camera does not behave correctly in the dark. If its outside then the video appears correct. What setting should I change for it to work in less light as well ?

[MartyG]

If you are using the R200 camera model, it has a component called the IR Emitter that assists the IR sensor with lighting. In very dark or very bright lighting conditions, it can cause the IR sensor to become saturated, negatively impacting the image.

The IR Emitter can be turned off with scripting in the Librealsense 1.12 SDK, also known as Librealsense1. Code for turning the emitter off in Librealsense1 can be found in the link below.​

https://github.com/IntelRealSense/librealsense/wiki/API-How-To#controlling-the-laser

[roha]

Thanks @MartyG​ 

I tried a few ways but still see the quatiy indoors like in the pic

                   rs_disable_stream( camera, RS_STREAM_INFRARED, &e);

                   rs_disable_stream( camera, RS_STREAM_INFRARED2, &e);

                   rs_set_device_option( camera, RS_OPTION_F200_LASER_POWER, 0.f, &e);

                  rs_set_device_option( camera, RS_OPTION_R200_EMITTER_ENABLED, 0, &e);

None of the above worked unfortunately. Here is the camera supported options. Let me know what you think

 Supported options:                                   min       max      step default 

   COLOR_BACKLIGHT_COMPENSATION                      : 0   ... 4          1    1        

   COLOR_BRIGHTNESS                                  : 0   ... 255        1    56       

   COLOR_CONTRAST                                    : 16  ... 64         1    32       

   COLOR_EXPOSURE                                    : 1   ... 666        1    1        

   COLOR_GAIN                                        : 0   ... 256        1    32       

   COLOR_ENABLE_AUTO_EXPOSURE                        : 0   ... 1          1    1        

   COLOR_ENABLE_AUTO_WHITE_BALANCE                   : 0   ... 1          1    1        

   R200_LR_AUTO_EXPOSURE_ENABLED                     : 0   ... 1          1    0        

   R200_LR_GAIN                                      : 100 ... 6399       1    400      

   R200_LR_EXPOSURE                                  : 1   ... 330        1    164      

   R200_EMITTER_ENABLED                              : 0   ... 1          1    0        

   R200_DEPTH_UNITS                                  : 0   ... 2.14748e+09 1    1000     

   R200_DEPTH_CLAMP_MIN                              : 0   ... 65535      1    0        

   R200_DEPTH_CLAMP_MAX                              : 0   ... 65535      1    65535    

   R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_DECREMENT      : 0   ... 255        1    5        

   R200_DEPTH_CONTROL_ESTIMATE_MEDIAN_INCREMENT      : 0   ... 255        1    5        

   R200_DEPTH_CONTROL_MEDIAN_THRESHOLD               : 0   ... 1023       1    192      

   R200_DEPTH_CONTROL_SCORE_MINIMUM_THRESHOLD        : 0   ... 1023       1    1        

   R200_DEPTH_CONTROL_SCORE_MAXIMUM_THRESHOLD        : 0   ... 1023       1    512      

   R200_DEPTH_CONTROL_TEXTURE_COUNT_THRESHOLD        : 0   ... 31         1    6        

   R200_DEPTH_CONTROL_TEXTURE_DIFFERENCE_THRESHOLD   : 0   ... 1023       1    24       

   R200_DEPTH_CONTROL_SECOND_PEAK_THRESHOLD          : 0   ... 1023       1    27       

   R200_DEPTH_CONTROL_NEIGHBOR_THRESHOLD             : 0   ... 1023       1    7        

   R200_DEPTH_CONTROL_LR_THRESHOLD                   : 0   ... 2047       1    24       

   FRAMES_QUEUE_SIZE                                 : 1   ... 20         1    20       

[MartyG]

As the R200's tech is 4 years old, the options for dealing with low light may be more limited than the current cameras. I did find a YouTube video that shows R200 settings shown with a drone on a bright day. The effects of bright sunlight on an R200 are probably similar to a dark room, so the settings shown on the video may be useful guide values for you if you enlarge the video to full screen.

​https://m.youtube.com/watch?v=wO6PQwwNZEQ

[roha]

@MartyG​  I am full screen :)

I will try again.

Any clue when the realsense camera drivers on the Aero will be updated ?

[MartyG]

Intel has unfortunately closed down the Aero platform and are not updating it any more.​

[roha]

@MartyG​  Oh no.. when did this happen ? So no support any longer ? Or have they stopped manufacturing the Aero drones now ?

[MartyG]

Intel made the announcement in January on the Aero forum and stopped providing forum support after June 15. Some Aero drone parts are still available in Intel's online Click store but parts are available whilst stocks last.

https://forums.intel.com/s/question/0D50P00004CfP2bSAF/intel-aero-platform-for-uavs-discontinuation-...

https://click.intel.com/intel-aero-platform-developer-kit.html

Some drone users have started using the modern RealSense D435 camera for their drones now.

[roha]

Thanks @MartyG​ . I will look into the D435 cameras.

I guess I should buy any Aero drones or parts I need now while they are in stock

[MartyG]

Yes, that's a good idea to get what you need now in terms of parts in case they go out of stock for good.

The link below is a good information primer about making the transition to D435 drones.

https://forums.intel.com/s/question/0D70P000005SLIYSA4/i-have-a-project-where-the-d435-camera-will-d...

Please let me know if there's anything else I can do to help!

[roha]

@MartyG​  - In your opinion whats a good alternative to the Intel Aero drone ? Something that is development friendly , linux platform preferably. Any suggestions ?

[MartyG]

My knowledge of programmable drones does not extend far outside of Aero, regrettably. When Aero was an active product line, I believe that Yuneec was the other main supporter of RealSense on drones, and have pretty much become the primary platform for RealSense with drones. They also offer Aero drone parts.

https://us.yuneec.com/faq-typhoon-h-with-realsense

https://us.yuneec.com/intelaerodroneparts

[MartyG]

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