Merge support for the older GigE cameras (Manta) on rietschen

Rietschen runs three Allied Vision Manta G-1236 on one GbE port, whose
firmware predates the names the program and the Alvium use. A feature
missing by its SFNC name is looked up by the older one (ExposureTimeAbs,
AcquisitionFrameRateAbs, ExposureAutoTarget, ExposureAutoAdjustTol), and
export_camera_profile.py picks a gige recipe for such a camera: frame
trigger off, BayerRG12Packed or BayerRG8 or Mono8, 60 MB/s, the frame rate
at the camera's maximum, auto-exposure on the frame mean at 30 % +- 5 %.
BayerRG12Packed, the GigE Vision 1.x 12-bit packing, is read as a layout of
its own. The camera probe lists every camera and install-tower asks which
is the colour one.

Two fixes reach every tower: the keep rule now reads the camera's own
target, tolerance and limits after the camera is opened (before, it judged
every frame against 50 +- 5 % until the first profile switch), and test
hardware env waits one read period for a DHT11's first reading.

Running on rietschen since 2026-10-20, in 12 bits since 2026-10-26: 52
waypoints at 3 s, 2.9 min a sweep. Tests 544/544 (mock).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

docs/tower-installation.md

@@ -714,6 +714,53 @@ feature vocabularies differ, so copying another tower's XML does not work:
 | `IntensityAutoPrecedence` | `Minimizeexposuretime` / `Minimizenoise` | **`MinimizeBlur` / `MinimizeNoise`** |
 | Sensor | 12 MP | 16 MP, 5328x3040 |
 
+### Older GigE cameras (Manta) `[partial]`
+
+Rietschen has three Allied Vision Manta G-1236 on one GbE port (`enp1s0`,
+MTU 8000): RGB (G-1236C), NIR and ACR (both G-1236B). Their firmware
+(00.01.54) predates the names the program and the Alvium use:
+
+| Program / Alvium | Manta |
+|---|---|
+| `ExposureTime` | `ExposureTimeAbs` |
+| `AcquisitionFrameRate` (+ `…Enable`) | `AcquisitionFrameRateAbs` - which a free-running Manta runs at, up to `AcquisitionFrameRateLimit` |
+| `IntensityControllerTarget` / `…Tolerance` | `ExposureAutoTarget` / `ExposureAutoAdjustTol` |
+| `DeviceLinkThroughputLimit` | `StreamBytesPerSecond` (max 124 MB/s, shared by every camera on the port) |
+| `BayerRG12p` | `BayerRG12Packed`: the GigE Vision 1.x packing, p0's high bits first - its own unpacking, see `RawImage.h` |
+| chunk data, `DeviceReset` | none |
+
+The program looks a missing feature up under its older name, so `test camera`
+and the telemetry work. `export_camera_profile.py` picks its `gige` recipe by
+itself when a camera has `ExposureTimeAbs` and no `ExposureTime`: frame trigger
+off (the legacy cameras booted with `TriggerMode = On`, `Line1`), `BayerRG8` on
+the colour camera (`BayerRG12Packed`, 12 bits, when it has it) and `Mono8` on a
+mono one, 60 MB/s each, the frame rate at
+the camera's maximum (rietschen's RGB camera came set to 0.955 fps), and
+auto-exposure on the frame mean (`ExposureAutoAlg = Mean`) at 30 % +- 5 %, down
+to 20 us by day. The keep rule waits for the frame mean to reach the camera's
+own target and tolerance, read once the camera is open. With the RGB camera's
+`FitRange`, which fits the histogram wherever its mean lands, no waypoint
+settled. 30 rather than the Alvium's 50: at 50 the sky over the horizon burnt
+out at noon, where smoke would rise, and at 35 it was still too bright; the old
+program ran these cameras at 23-25.
+
+Give `--camera` the id: with several cameras the first one the SDK lists is
+not the colour one, and the order changes from run to run. `install.sh
+--probe` lists them all, `install.sh --hardware-ini` writes `CHOOSE_ONE`
+without `--camera-id`, and `install-tower` asks (`camera_id`).
+
+What is still missing: a Manta has no `DeviceReset`, so the program cannot
+reset a stuck camera (it says so and goes on); and without chunk data the keep
+rule cannot tell a dark scene at the exposure limit, so at night it keeps the
+newest frame after `frame_timeout_ms`.
+
+`[verified]` on rietschen's NIR camera, 2026-10-20, with the motor mocked and
+the old program running beside it: `test camera` PASS (5 frames 4112x3008
+Mono8 in 1.7 s, dark 100 % <= 20, bright mean 255), `snapshot` writes a
+3008x4112 grey JXL (`rotation_deg = 270`, as the old program rotated), and a
+scan keeps a picture every 5 s without a timeout. The colour camera is not yet
+tested: the old program has it open.
+
 ### Binning is not optional, and the frame-rate ceiling is not what it looks like
 
 Unbinned RGB8 on the 16 MP sensor is a **48.6 MB frame** - over the ~20 MB

hardware/common/kit.sh

@@ -100,6 +100,9 @@ probe_mcu() {
 #     therefore taken only from a block whose transport layer is the USB or GigE
 #     TL. A tower configured with DEV_Cam1 would "find its camera" and capture
 #     synthetic images forever.
+#
+# One id per line, like probe_mcu: rietschen has three GigE cameras on one port,
+# and the first one listed is not the colour one, so the caller has to choose.
 probe_camera_id() {
     local tool
     for tool in /opt/VimbaX*/bin/ListCameras_VmbC /opt/VimbaX*/bin/ListCameras; do
@@ -113,7 +116,7 @@ probe_camera_id() {
         done
         "$tool" 2>/dev/null | awk '
             /Camera ID/            { id = $NF }
-            /Transport Layer Path/ { if (id != "" && $NF !~ /Simulator/) { print id; exit } }
+            /Transport Layer Path/ { if (id != "" && $NF !~ /Simulator/) print id; id = "" }
         '
         return
     done
@@ -134,7 +137,8 @@ probe_camera_lpm_path() {
 
 probe_report() {
     local board mcu cam lpm
-    board="$(probe_board)"; mcu="$(probe_mcu)"; cam="$(probe_camera_id)"; lpm="$(probe_camera_lpm_path)"
+    board="$(probe_board)"; mcu="$(probe_mcu)"; lpm="$(probe_camera_lpm_path)"
+    cam="$(probe_camera_id | paste -sd ' ')"
     echo "board            : $board"
     echo "os               : $(. /etc/os-release && echo "$PRETTY_NAME") ($(uname -r))"
     echo "motor MCU        : ${mcu:-NOT FOUND}"
@@ -270,7 +274,7 @@ do_vimba() {
 
     local id; id="$(probe_camera_id)"
     if [[ -n $id ]]; then
-        say "camera found: $id"
+        say "camera found: ${id//$'\n'/, }"
     else
         warn "no camera reported by ListCameras yet"
         warn "the SDK asks for a reboot before the transport layers are usable"
@@ -374,6 +378,11 @@ emit_hardware_ini() {
         warn "$mcu"
         mcu="CHOOSE_ONE"
     fi
+    if [[ $(wc -l <<< "$cam") -gt 1 ]]; then
+        warn "several cameras found; pick one with --camera-id:"
+        warn "$cam"
+        cam="CHOOSE_ONE"
+    fi
 
     cat <<EOF
 ; hardware.ini - what this machine IS. Generated by hardware/$KIT_BOARD/install.sh

include/fgc/RawImage.h

@@ -17,21 +17,30 @@ namespace fgc {
 //   BayerRG12p   the same mosaic at 12 bits, packed: two pixels in three bytes
 //                (GenICam "12p": p0 = b0 | (b1 & 0x0F) << 8,
 //                                p1 = b1 >> 4 | b2 << 4)
+//   BayerRG12Packed
+//                the same, packed the GigE Vision 1.x way that older GigE
+//                cameras use (the Manta G-1236C on rietschen): the first byte
+//                holds p0's HIGH bits, not its low ones
+//                                p0 = b0 << 4 | (b1 & 0x0F),
+//                                p1 = b2 << 4 | b1 >> 4
+//                Same size as BayerRG12p; read as 12p it would scramble every
+//                other pixel.
 //   Mono16       two bytes per pixel, grey, host byte order - the thermal
 //                camera's counts (TarisCameraSource.h), all 16 bits used
 //
 // OpenCV names Bayer patterns by the second row, so the camera's BayerRG is
 // OpenCV's COLOR_BayerBG2* (measured 2026-09-30 against the camera's own RGB8).
-enum class PixelLayout { Unknown, Mono8, RGB8, BayerRG8, BayerRG12p, Mono16 };
+enum class PixelLayout { Unknown, Mono8, RGB8, BayerRG8, BayerRG12p, Mono16, BayerRG12Packed };
 
-// The GenICam name ("BayerRG12p"), or "Unknown".
+// The GenICam name ("BayerRG12p", "BayerRG12Packed"), or "Unknown".
 const char* layoutName(PixelLayout layout);
 // From a GenICam name; Unknown for anything the program does not handle.
 PixelLayout layoutFromName(const std::string& name);
 
 // True for the raw mosaic layouts, which need de-Bayering before saving as colour.
 bool layoutIsBayer(PixelLayout layout);
-// Bits per value as delivered: 8, 12 for BayerRG12p, 16 for Mono16. 0 for Unknown.
+// Bits per value as delivered: 8, 12 for the 12-bit mosaics, 16 for Mono16. 0
+// for Unknown.
 int layoutBits(PixelLayout layout);
 // Bytes one frame of width x height takes in this layout (0 for Unknown).
 size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height);
@@ -40,6 +49,10 @@ size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height);
 // (0..4095). `in` holds ceil(pixels * 3 / 2) bytes; an odd last pixel uses the
 // low half of its pair, as GenICam specifies.
 void unpack12p(const uint8_t* in, uint16_t* out, size_t pixels);
+// The same for BayerRG12Packed (GigE Vision 1.x packing, see PixelLayout).
+void unpack12Packed(const uint8_t* in, uint16_t* out, size_t pixels);
+// Either of the two, by layout: the 12-bit mosaic unpacked to 16-bit words.
+void unpack12(PixelLayout layout, const uint8_t* in, uint16_t* out, size_t pixels);
 
 // Brightness of a frame from a sparse sample of its pixels: every `stride`-th
 // pixel, so all colour sites of a mosaic are visited. Cheap enough to run on

scripts/export_camera_profile.py

@@ -120,6 +120,102 @@ RECIPES = {
     ],
 }
 
+# The older GigE cameras (Manta G-1236 on rietschen, firmware 00.01.54) name
+# things differently - ExposureTimeAbs, AcquisitionFrameRateAbs, ExposureAutoTarget
+# - and have no IntensityController, no DeviceLinkThroughputLimit and no 12-bit
+# packed Bayer the program reads. Measured on rietschen's NIR camera, 2026-10-20.
+# The link is shared: the camera free-runs as fast as StreamBytesPerSecond lets
+# it (41 MB/s gave 3.2 fps at 12.4 MB a frame), and the cameras of one tower sit
+# on one GbE port (~124 MB/s), so each gets half of it - room for RGB and NIR.
+# PixelFormat takes the first the camera offers: raw Bayer on the colour camera,
+# de-Bayered on the tower and a third of RGB8 on the wire; Mono8 on a mono one.
+# The packet size is left alone: it has to fit the port's MTU, which is the
+# tower's network setup, not the camera's.
+_GIGE_COMMON = [
+    ("TriggerSelector",            "FrameStart"),
+    ("TriggerMode",                "Off"),
+    ("AcquisitionMode",            "Continuous"),
+    ("BinningVertical",            1),
+    ("BinningHorizontal",          1),
+    ("OffsetX",                    0),
+    ("OffsetY",                    0),
+    ("Width",                      100000),
+    ("Height",                     100000),
+    # 12 bits where the camera has them in the GigE packing the program reads
+    # (rietschen's RGB camera, chosen there 2026-10-26: 18.6 MB, 3.1 fps at
+    # 60 MB/s); 8 bits otherwise. The mono cameras' Mono12Packed is not read.
+    ("PixelFormat",                ("BayerRG12Packed", "BayerRG8", "Mono8")),
+    ("StreamBytesPerSecond",       60000000),
+    # Free-running, a Manta still runs at AcquisitionFrameRateAbs, not at its
+    # limit: rietschen's RGB camera came with 0.955 and delivered 5 frames in
+    # 5.2 s. A short fixed exposure first, so the rate is not capped by the
+    # exposure the camera happens to hold, as in the Alvium recipe.
+    ("ExposureAuto",               "Off"),
+    ("ExposureTimeAbs",            1000.0),
+    ("AcquisitionFrameRateAbs",    1000.0),      # clamped to the camera's maximum
+    ("ChunkModeActive",            False),
+    # The keep rule waits for the frame mean to reach the camera's target, +- its
+    # tolerance, which it reads from the camera. The camera has to aim at the
+    # mean: the RGB camera came with FitRange (which fits the histogram, wherever
+    # the mean lands) and no waypoint settled (2026-10-21). 30 % rather than the
+    # Alvium's 50: at 50 the sky over the horizon burnt out at noon, where smoke
+    # would rise, and at 35 it was still too bright; the old program ran these
+    # cameras at 23-25.
+    ("ExposureAutoAlg",            "Mean"),
+    ("ExposureAutoAdjustTol",      5),
+    ("ExposureAutoTarget",         30),
+    ("ExposureAuto",               "Continuous"),
+    ("GainAuto",                   "Continuous"),
+]
+
+GIGE_RECIPES = {
+    "standard": _GIGE_COMMON + [
+        ("ExposureAutoMax",            20000),
+        # Rietschen's RGB camera sat at 200-600 us at noon: a floor of 200 left it
+        # no room to darken a bright view, and without chunk data the host cannot
+        # tell a camera at its limit from one still settling. The Manta goes to 16.
+        ("ExposureAutoMin",            20),
+        ("GainAutoMax",                24.0),
+    ],
+    "night": _GIGE_COMMON + [
+        ("ExposureAutoMax",            500000),
+        ("ExposureAutoMin",            1000),
+        ("GainAutoMax",                48.0),     # clamped to the camera's 40
+    ],
+}
+
+
+def has_feature(cam, name):
+    try:
+        cam.get_feature_by_name(name)
+        return True
+    except Exception:
+        return False
+
+
+def recipe_family(cam):
+    """'gige' for a camera that only knows the older names, else 'alvium'."""
+    if not has_feature(cam, "ExposureTime") and has_feature(cam, "ExposureTimeAbs"):
+        return "gige"
+    return "alvium"
+
+
+def resolve_value(feat, value):
+    """The value to write to this feature; None if a choice list has no match.
+
+    A tuple is a list of choices for an enum: the first one the camera offers.
+    An integer feature takes no float, even a whole one (ExposureAutoMin is Int
+    on the Manta and Float on the Alvium)."""
+    if isinstance(value, tuple):
+        try:
+            offered = {str(e) for e in feat.get_available_entries()}
+        except Exception:
+            offered = set()
+        return next((v for v in value if v in offered), None)
+    if isinstance(feat, vmbpy.IntFeature) and isinstance(value, float):
+        return int(round(value))
+    return value
+
 
 def apply_feature(cam, name, value, dry_run):
     try:
@@ -131,6 +227,10 @@ def apply_feature(cam, name, value, dry_run):
     except Exception:
         before = None
 
+    value = resolve_value(feat, value)
+    if value is None:
+        return ("refused", name, before, "none of the choices is offered")
+
     # Clamp a numeric value the camera cannot reach, rather than letting the
     # write fail and leaving whatever was there before. Without this, exporting
     # 'standard' right after 'night' wrote a standard profile running at the
@@ -168,6 +268,8 @@ def main():
                         "fire_gimbal_control", "camera_profiles", "rgb"),
                     help="directory to write <profile>.xml into")
     ap.add_argument("--camera", default=None, help="camera id (default: the first real one)")
+    ap.add_argument("--family", default="auto", choices=("auto", "alvium", "gige"),
+                    help="which recipe set (default: from the features the camera has)")
     ap.add_argument("--dry-run", action="store_true")
     args = ap.parse_args()
 
@@ -191,10 +293,12 @@ def main():
         cam = cams[0]
 
         with cam:
+            family = recipe_family(cam) if args.family == "auto" else args.family
+            recipe = (GIGE_RECIPES if family == "gige" else RECIPES)[args.profile]
             print(f"camera  : {cam.get_id()}  {cam.get_model()}")
-            print(f"profile : {args.profile}{'  (dry run)' if args.dry_run else ''}")
+            print(f"profile : {args.profile} ({family} recipe){'  (dry run)' if args.dry_run else ''}")
             refused = []
-            for name, value in RECIPES[args.profile]:
+            for name, value in recipe:
                 state, n, before, after = apply_feature(cam, name, value, args.dry_run)
                 mark = {"set": "  ", "would-set": " ?", "missing": " !", "refused": " X",
                         "clamped": " ~", "would-clamp": " ~"}[state]
@@ -205,13 +309,14 @@ def main():
                     refused.append(n)
 
             # What the settings actually cost per frame - the number that decides
-            # whether this profile can be delivered over USB at all.
+            # whether this profile can be delivered over the link at all.
             try:
                 w = cam.get_feature_by_name("Width").get()
                 h = cam.get_feature_by_name("Height").get()
                 fmt = cam.get_feature_by_name("PixelFormat").get()
                 bpp = {"RGB8": 3, "BGR8": 3, "BayerRG12p": 1.5, "BayerRG12": 2}.get(str(fmt), 1)
-                rate = cam.get_feature_by_name("AcquisitionFrameRate").get()
+                rate_name = "AcquisitionFrameRateAbs" if family == "gige" else "AcquisitionFrameRate"
+                rate = cam.get_feature_by_name(rate_name).get()
                 mb = w * h * bpp / 1e6
                 print(f"\nresult  : {w}x{h} {fmt}  {mb:.1f} MB/frame  "
                       f"{rate:.2f} fps  = {mb * rate:.0f} MB/s")

scripts/install-tower

@@ -334,22 +334,35 @@ set -euo pipefail
 
 S_MCU="$(probe_mcu)"
 S_MCU_N=$(grep -c . <<< "$S_MCU" || true)
-# Another program on the motor MCU's port - a legacy tower's old program, started
+# Another program on the motor MCU's port - a legacy tower's old program - would
-# by start_gimbal.service - would fight this one for it, and the flash would
+# fight this one for it, and the flash would fail half-way. Our own program is
-# fail half-way. Our own program is fine: it is stopped before anything needs
+# fine: it is stopped before anything needs the port. The old program is started
-# the port.
+# differently from tower to tower: start_gimbal.service from
+# ~/scripts/startup_gimbal.sh, which also runs the picture transfer, on
+# staeffelsberg; gimbal_control.service on its own on rietschen.
 if (( S_MCU_N == 1 )) && [[ -e $S_MCU ]]; then
     for pid in $(fuser "$(readlink -f "$S_MCU")" 2>/dev/null); do
         args="$(ps -o args= -p "$pid" 2>/dev/null)"
         [[ $args == */fire_gimbal_control* ]] && continue
-        die "the motor MCU's port is held by another program: pid $pid ($args).
+        unit="$(ps -o unit= -p "$pid" 2>/dev/null | tr -d ' ')"
-Stop it for good before installing. On a legacy tower it is started by
+        if [[ $unit == start_gimbal.service ]]; then
-start_gimbal.service from ~/scripts/startup_gimbal.sh, which also runs the picture
+            how="It is started by start_gimbal.service from ~/scripts/startup_gimbal.sh, which
-transfer: comment out the old program's line there, keep the transfer, then
+also runs the picture transfer: comment out the old program's line there, keep the
+transfer, then
   sudo systemctl restart start_gimbal"
+        elif [[ $unit == *.service ]]; then
+            how="It is started by $unit:
+  sudo systemctl disable --now $unit"
+        else
+            how="Find what starts it (systemctl status $pid) and stop that."
+        fi
+        die "the motor MCU's port is held by another program: pid $pid ($args).
+Stop it for good before installing. $how"
     done
 fi
 S_CAM="$(probe_camera_id)"
+S_CAM_N=$(grep -c . <<< "$S_CAM" || true)
+S_CAM_SHOWN="$(paste -sd ' ' <<< "$S_CAM")"
 S_LPM="$(probe_camera_lpm_path)"
 S_USBFS="$(cat /sys/module/usbcore/parameters/usbfs_memory_mb 2>/dev/null || echo '?')"
 S_PIO="$(pio_path || true)"
@@ -377,7 +390,7 @@ board            : $S_BOARD  (kit hardware/$S_BOARD, firmware env $KIT_FW_ENV)
 software / fw    : $S_SW_REV / $S_FW_REV
 motor MCU        : ${S_MCU:-NOT FOUND}  [$S_MODE]
 running firmware : ${S_FW_NOW:-unknown}
-camera           : ${S_CAM:-not found}${S_LPM:+  (LPM $(cat "$S_LPM") at $S_LPM)}
+camera           : ${S_CAM_SHOWN:-not found}${S_LPM:+  (LPM $(cat "$S_LPM") at $S_LPM)}
 usbfs_memory_mb  : $S_USBFS
 hardware.ini     : $([[ -r $HW ]] && echo "present, $(hw_todos | grep -c . || true) TODO(s)" || echo absent)
 config.ini       : $([[ -r $CFG ]] && echo "$CFG, tower_name $(ini_get "$CFG" General tower_name 2>/dev/null || echo '?'), [Startup] home $(ini_get "$CFG" Startup home 2>/dev/null || echo unset), mode $(ini_get "$CFG" Startup mode 2>/dev/null || echo unset)" || echo absent)
@@ -604,7 +617,11 @@ if [[ ! -r $HW ]]; then
         ask serial "No motor MCU found - its /dev/serial/by-id path"
         KIT_ARGS+=(--serial "$REPLY_VAL")
     fi
-    if [[ $CAMS_A != none && -z $S_CAM ]]; then
+    if [[ $CAMS_A != none ]] && (( S_CAM_N > 1 )); then
+        echo "Several cameras:"; nl -w2 -s') ' <<< "$S_CAM"
+        ask camera_id "Which is the colour camera (its DEV_ id)"
+        KIT_ARGS+=(--camera-id "$REPLY_VAL")
+    elif [[ $CAMS_A != none && -z $S_CAM ]]; then
         ask camera_id "Camera DEV_ id (none found; the SDK may need a reboot first)"
         KIT_ARGS+=(--camera-id "$REPLY_VAL")
     fi
@@ -1092,9 +1109,13 @@ if [[ ${DO[profiles]} == change ]]; then
              "$HOME/.venvs/vmbpy/bin/pip" install -q /opt/VimbaX/api/python/vmbpy-*.whl; }; }; then
         PROFDIR="$(prof_dir)"   # the config may have moved since the plan was made
         mkdir -p "$PROFDIR"
+        # The camera hardware.ini names, not the first one the SDK lists: on a
+        # tower with several (rietschen: three GigE) that is another camera.
+        cam_id="$(ini_get "$HW" Camera.rgb id 2>/dev/null || true)"
+        cam_arg=(); [[ $cam_id == DEV_* ]] && cam_arg=(--camera "$cam_id")
         for prof in "${PROF_MISSING[@]}"; do
             ( cd "$REPO" && GENICAM_GENTL64_PATH=/opt/VimbaX/cti "$HOME/.venvs/vmbpy/bin/python" \
-                  scripts/export_camera_profile.py --profile "$prof" --out "$PROFDIR" ) ||
+                  scripts/export_camera_profile.py --profile "$prof" --out "$PROFDIR" "${cam_arg[@]}" ) ||
                 warn "could not export the $prof profile; export it later (docs/tower-installation.md section 8)"
         done
         done_step profiles

src/camera/ImagePipeline.cpp

@@ -231,14 +231,14 @@ bool ImagePipeline::save(const Frame& frame, const CameraOutput& out, const std:
         img      = cv::Mat(h, w, CV_16UC1, data);
         bits     = 16;
         distance = 0.f;
-    } else if (frame.layout == PixelLayout::BayerRG8 || frame.layout == PixelLayout::BayerRG12p) {
+    } else if (layoutIsBayer(frame.layout)) {
         cv::Mat mosaic;
         if (frame.layout == PixelLayout::BayerRG8) {
             mosaic = cv::Mat(h, w, CV_8UC1, data);
         } else {
             mosaic.create(h, w, CV_16UC1);
-            unpack12p(frame.data.data(), reinterpret_cast<uint16_t*>(mosaic.data),
+            unpack12(frame.layout, frame.data.data(), reinterpret_cast<uint16_t*>(mosaic.data),
-                      static_cast<size_t>(w) * h);
+                     static_cast<size_t>(w) * h);
             bits = 12;
         }
         // The camera's BayerRG is OpenCV's BayerBG (see RawImage.h).

src/camera/VimbaCameraSource.cpp

@@ -67,6 +67,8 @@ PixelLayout layoutOf(VmbPixelFormatType f) {
         case VmbPixelFormatRgb8:       return PixelLayout::RGB8;
         case VmbPixelFormatBayerRG8:   return PixelLayout::BayerRG8;
         case VmbPixelFormatBayerRG12p: return PixelLayout::BayerRG12p;
+        // The older GigE cameras' 12 bits (Manta): packed differently, see RawImage.h.
+        case VmbPixelFormatBayerRG12Packed: return PixelLayout::BayerRG12Packed;
         default:                       return PixelLayout::Unknown;
     }
 }
@@ -125,7 +127,7 @@ public:
                         warned_layout_ = true;
                         LOG_WARN << "camera cam" << cam_id_ << ": pixel format 0x" << std::hex
                                  << pf << std::dec << " is not one the program handles "
-                                 << "(Mono8, RGB8, BayerRG8, BayerRG12p)";
+                                 << "(Mono8, RGB8, BayerRG8, BayerRG12p, BayerRG12Packed)";
                     }
                 }
                 f.data.assign(buf, buf + bytes);
@@ -188,12 +190,37 @@ private:
     bool       has_ = false;
 };
 
+// The older GigE cameras (Manta G-1236 on rietschen, firmware 00.01.54) predate
+// the SFNC names the program uses and the Alvium answers to. Where a camera has
+// no feature by the program's name, it is looked up by the older one. The
+// IntensityController pair is the Alvium's auto-exposure target and tolerance;
+// the Manta's ExposureAuto* pair means the same, in percent too.
+const char* legacyFeatureName(const std::string& name) {
+    static const std::pair<const char*, const char*> kAliases[] = {
+        {"ExposureTime",                 "ExposureTimeAbs"},
+        {"AcquisitionFrameRate",         "AcquisitionFrameRateAbs"},
+        {"IntensityControllerTarget",    "ExposureAutoTarget"},
+        {"IntensityControllerTolerance", "ExposureAutoAdjustTol"},
+    };
+    for (const auto& [sfnc, legacy] : kAliases)
+        if (name == sfnc) return legacy;
+    return nullptr;
+}
+
+// A feature by the program's name, or by its older name on a camera that has only
+// that one.
+bool findFeature(const CameraPtr& cam, const std::string& name, FeaturePtr& f) {
+    if (SP_ACCESS(cam)->GetFeatureByName(name.c_str(), f) == VmbErrorSuccess) return true;
+    const char* legacy = legacyFeatureName(name);
+    return legacy && SP_ACCESS(cam)->GetFeatureByName(legacy, f) == VmbErrorSuccess;
+}
+
 // Read a numeric/string feature, returning `fallback`/"" if absent (tolerant, for
 // telemetry). Numeric takes an integer feature too: some are Int on one model and
 // Float on another (IntensityControllerTolerance is Int on the Alvium 1800 U-1240c).
 double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
     FeaturePtr f;
-    if (SP_ACCESS(cam)->GetFeatureByName(name, f) != VmbErrorSuccess) return fallback;
+    if (!findFeature(cam, name, f)) return fallback;
     double v = fallback;
     if (f->GetValue(v) == VmbErrorSuccess) return v;
     VmbInt64_t i = 0;
@@ -203,7 +230,7 @@ double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
 std::string getString(const CameraPtr& cam, const char* name) {
     FeaturePtr  f;
     std::string v;
-    if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
+    if (findFeature(cam, name, f) && f->GetValue(v) == VmbErrorSuccess)
         return v;
     return {};
 }
@@ -649,8 +676,7 @@ bool VimbaCameraSource::setFeature(int camera_index, const std::string& name,
     if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
     FeaturePtr         f;
     VmbFeatureDataType type = VmbFeatureDataUnknown;
-    if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
+    if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
-        f->GetDataType(type) != VmbErrorSuccess)
         return false;
     // The value before the first change, so restoreProfile() can put it back
     // live. Only the first: a second change must not record the test's own value.
@@ -741,8 +767,7 @@ bool VimbaCameraSource::readFeature(int camera_index, const std::string& name, d
     if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
     FeaturePtr         f;
     VmbFeatureDataType type = VmbFeatureDataUnknown;
-    if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
+    if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
-        f->GetDataType(type) != VmbErrorSuccess)
         return false;
     if (type == VmbFeatureDataFloat) return f->GetValue(value) == VmbErrorSuccess;
     if (type == VmbFeatureDataInt) {
@@ -760,8 +785,7 @@ bool VimbaCameraSource::featureRange(int camera_index, const std::string& name,
     if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
     FeaturePtr         f;
     VmbFeatureDataType type = VmbFeatureDataUnknown;
-    if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
+    if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
-        f->GetDataType(type) != VmbErrorSuccess)
         return false;
     if (type == VmbFeatureDataFloat) return f->GetRange(min, max) == VmbErrorSuccess;
     if (type == VmbFeatureDataInt) {
@@ -788,7 +812,7 @@ bool VimbaCameraSource::restoreProfile(int camera_index) {
     for (auto it = undo.rbegin(); ok && it != undo.rend(); ++it) {
         FeaturePtr         f;
         VmbFeatureDataType type = VmbFeatureDataUnknown;
-        if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(it->first.c_str(), f) != VmbErrorSuccess ||
+        if (!findFeature(impl_->cameras[idx], it->first, f) ||
             f->GetDataType(type) != VmbErrorSuccess) { ok = false; break; }
         VmbErrorType rc = VmbErrorWrongType;
         try {

src/core/Application.cpp

@@ -3627,6 +3627,12 @@ struct Application::Impl {
             return 3;  // distinct from the config (1) and lock (2) exits
         }
 
+        // Again, now the camera is open: the keep rule reads the camera's own
+        // auto-exposure target, tolerance and limits, and before open() it got
+        // none of them and judged every frame against its 50 +- 5 % default -
+        // until the first profile switch. Rietschen's cameras aim at 35 %.
+        configureSettle();
+
         pipeline->start();
         channel->publishStatus(static_cast<int>(Mode::Manual));   // until [Startup] mode says otherwise
 

src/core/RawImage.cpp

@@ -10,6 +10,7 @@ const char* layoutName(PixelLayout layout) {
         case PixelLayout::RGB8:       return "RGB8";
         case PixelLayout::BayerRG8:   return "BayerRG8";
         case PixelLayout::BayerRG12p: return "BayerRG12p";
+        case PixelLayout::BayerRG12Packed: return "BayerRG12Packed";
         case PixelLayout::Mono16:     return "Mono16";
         case PixelLayout::Unknown:    break;
     }
@@ -18,13 +19,15 @@ const char* layoutName(PixelLayout layout) {
 
 PixelLayout layoutFromName(const std::string& name) {
     for (PixelLayout l : {PixelLayout::Mono8, PixelLayout::RGB8, PixelLayout::BayerRG8,
-                          PixelLayout::BayerRG12p, PixelLayout::Mono16})
+                          PixelLayout::BayerRG12p, PixelLayout::BayerRG12Packed,
+                          PixelLayout::Mono16})
         if (name == layoutName(l)) return l;
     return PixelLayout::Unknown;
 }
 
 bool layoutIsBayer(PixelLayout layout) {
-    return layout == PixelLayout::BayerRG8 || layout == PixelLayout::BayerRG12p;
+    return layout == PixelLayout::BayerRG8 || layout == PixelLayout::BayerRG12p ||
+           layout == PixelLayout::BayerRG12Packed;
 }
 
 int layoutBits(PixelLayout layout) {
@@ -32,7 +35,8 @@ int layoutBits(PixelLayout layout) {
         case PixelLayout::Mono8:
         case PixelLayout::RGB8:
         case PixelLayout::BayerRG8:   return 8;
-        case PixelLayout::BayerRG12p: return 12;
+        case PixelLayout::BayerRG12p:
+        case PixelLayout::BayerRG12Packed: return 12;
         case PixelLayout::Mono16:     return 16;
         case PixelLayout::Unknown:    break;
     }
@@ -45,7 +49,8 @@ size_t layoutFrameBytes(PixelLayout layout, uint32_t width, uint32_t height) {
         case PixelLayout::Mono8:
         case PixelLayout::BayerRG8:   return n;
         case PixelLayout::RGB8:       return n * 3;
-        case PixelLayout::BayerRG12p: return (n * 3 + 1) / 2;
+        case PixelLayout::BayerRG12p:
+        case PixelLayout::BayerRG12Packed: return (n * 3 + 1) / 2;
         case PixelLayout::Mono16:     return n * 2;
         case PixelLayout::Unknown:    break;
     }
@@ -66,6 +71,12 @@ inline uint16_t px12p(const uint8_t* in, size_t i) {
                         : static_cast<uint16_t>((p[1] >> 4) | (p[2] << 4));
 }
 
+inline uint16_t px12Packed(const uint8_t* in, size_t i) {
+    const uint8_t* p = in + (i >> 1) * 3;
+    return (i & 1) == 0 ? static_cast<uint16_t>((p[0] << 4) | (p[1] & 0x0F))
+                        : static_cast<uint16_t>((p[2] << 4) | (p[1] >> 4));
+}
+
 }  // namespace
 
 void unpack12p(const uint8_t* in, uint16_t* out, size_t pixels) {
@@ -77,6 +88,20 @@ void unpack12p(const uint8_t* in, uint16_t* out, size_t pixels) {
     if (pixels & 1) out[0] = static_cast<uint16_t>(in[0] | ((in[1] & 0x0F) << 8));
 }
 
+void unpack12Packed(const uint8_t* in, uint16_t* out, size_t pixels) {
+    const size_t pairs = pixels / 2;
+    for (size_t k = 0; k < pairs; ++k, in += 3, out += 2) {
+        out[0] = static_cast<uint16_t>((in[0] << 4) | (in[1] & 0x0F));
+        out[1] = static_cast<uint16_t>((in[2] << 4) | (in[1] >> 4));
+    }
+    if (pixels & 1) out[0] = static_cast<uint16_t>((in[0] << 4) | (in[1] & 0x0F));
+}
+
+void unpack12(PixelLayout layout, const uint8_t* in, uint16_t* out, size_t pixels) {
+    if (layout == PixelLayout::BayerRG12Packed) unpack12Packed(in, out, pixels);
+    else                                        unpack12p(in, out, pixels);
+}
+
 BrightnessSample sampleBrightness(const uint8_t* frame, size_t bytes, PixelLayout layout,
                                   uint32_t width, uint32_t height, size_t stride) {
     BrightnessSample s;
@@ -90,9 +115,10 @@ BrightnessSample sampleBrightness(const uint8_t* frame, size_t bytes, PixelLayou
     double       sum = 0;
     size_t       hi = 0;
     for (size_t i = 0; i < values; i += stride) {
-        double v = layout == PixelLayout::BayerRG12p ? px12p(frame, i) / 16.0
+        double v = layout == PixelLayout::BayerRG12p      ? px12p(frame, i) / 16.0
-                 : layout == PixelLayout::Mono16     ? px16(frame, i) / 256.0
+                 : layout == PixelLayout::BayerRG12Packed ? px12Packed(frame, i) / 16.0
-                                                     : frame[i];
+                 : layout == PixelLayout::Mono16          ? px16(frame, i) / 256.0
+                                                          : frame[i];
         sum += v;
         hi += v >= 250.0;
         ++s.samples;

src/core/TestRunner.cpp

@@ -1097,13 +1097,26 @@ void TestRunner::testHwEnv(TestReport& r) {
     }
 
     setProgress(s.id, 2, 2, "reading sensor");
+    std::optional<EnvSample> sample = hw_.env ? hw_.env->sample() : std::nullopt;
+    // The firmware reads its DHT11 every 10 s, the first time 2 s after it
+    // starts, so a run straight after the host connected may have no reading
+    // yet: install-tower --verify failed on rietschen 1.4 s into its run, 36 s
+    // after the same test had passed. Wait one read period before calling it
+    // missing.
+    if (hw_.env && !sample && on_mcu) {
+        const auto deadline = clock_t_::now() + 12s;
+        while (!sample && clock_t_::now() < deadline && !cancelled()) {
+            std::this_thread::sleep_for(200ms);
+            sample = hw_.env->sample();
+        }
+    }
     CheckResult m;
     if (!hw_.env) {
         m.pass   = false;
         m.detail = "declared as '" + hw_.declared->env +
                    "' but no sensor was built -- check [Env] i2c_device; the declaration itself is "
                    "what enables it";
-    } else if (auto sample = hw_.env->sample()) {
+    } else if (sample) {
         m.detail = "CRC-valid reading from " + hw_.env->name();
     } else if (on_mcu) {
         m.pass   = false;

tests/test_rawimage.cpp

@@ -22,11 +22,26 @@ std::vector<uint8_t> pack12p(const std::vector<uint16_t>& v) {
     return out;
 }
 
+// Pack 12-bit values the GigE Vision 1.x way (BayerRG12Packed, the Manta's):
+// the first byte carries p0's high bits.
+std::vector<uint8_t> pack12Packed(const std::vector<uint16_t>& v) {
+    std::vector<uint8_t> out((v.size() * 3 + 1) / 2);
+    for (size_t i = 0, o = 0; i < v.size(); i += 2, o += 3) {
+        const uint16_t p0 = v[i];
+        const uint16_t p1 = i + 1 < v.size() ? v[i + 1] : 0;
+        out[o]     = static_cast<uint8_t>(p0 >> 4);
+        out[o + 1] = static_cast<uint8_t>((p0 & 0x0F) | ((p1 & 0x0F) << 4));
+        if (o + 2 < out.size()) out[o + 2] = static_cast<uint8_t>(p1 >> 4);
+    }
+    return out;
+}
+
 }  // namespace
 
 TEST_CASE("layout names round-trip, and unknown formats are refused") {
     for (PixelLayout l : {PixelLayout::Mono8, PixelLayout::RGB8, PixelLayout::BayerRG8,
-                          PixelLayout::BayerRG12p, PixelLayout::Mono16})
+                          PixelLayout::BayerRG12p, PixelLayout::BayerRG12Packed,
+                          PixelLayout::Mono16})
         CHECK(layoutFromName(layoutName(l)) == l);
     CHECK(layoutFromName("BayerRG12") == PixelLayout::Unknown);  // unpacked: not handled
     CHECK(layoutFromName("YCbCr422_8_CbYCrY") == PixelLayout::Unknown);
@@ -45,6 +60,10 @@ TEST_CASE("layout properties") {
     CHECK(layoutFrameBytes(PixelLayout::BayerRG8, 5328, 3040) == 16197120);
     CHECK(layoutFrameBytes(PixelLayout::RGB8, 5328, 3040) == 48591360);
     CHECK(layoutFrameBytes(PixelLayout::BayerRG12p, 3, 1) == 5);  // odd pixel count rounds up
+    // The Manta G-1236C's full frame in BayerRG12Packed: its PayloadSize.
+    CHECK(layoutIsBayer(PixelLayout::BayerRG12Packed));
+    CHECK(layoutBits(PixelLayout::BayerRG12Packed) == 12);
+    CHECK(layoutFrameBytes(PixelLayout::BayerRG12Packed, 4112, 3008) == 18553344);
     // The thermal camera: 640 x 480 counts, two bytes each.
     CHECK_FALSE(layoutIsBayer(PixelLayout::Mono16));
     CHECK(layoutBits(PixelLayout::Mono16) == 16);
@@ -85,6 +104,36 @@ TEST_CASE("unpack12p round-trips every value, odd counts included") {
     }
 }
 
+TEST_CASE("unpack12Packed matches GigE Vision 12Packed, by hand") {
+    // p0 = 0xABC, p1 = 0x123: bytes AB, 3C, 12.
+    const uint8_t in[3] = {0xAB, 0x3C, 0x12};
+    uint16_t      out[2] = {};
+    unpack12Packed(in, out, 2);
+    CHECK(out[0] == 0xABC);
+    CHECK(out[1] == 0x123);
+    // The same bytes read as 12p are other values: the two must not be confused.
+    unpack12p(in, out, 2);
+    CHECK(out[0] != 0xABC);
+}
+
+TEST_CASE("unpack12Packed round-trips every value, odd counts included") {
+    std::mt19937          rng(1236);
+    std::vector<uint16_t> src(1001);
+    for (auto& v : src) v = static_cast<uint16_t>(rng() % 4096);
+    src[0] = 0;
+    src[1] = 4095;
+    for (size_t n : {size_t(1000), size_t(1001)}) {
+        CAPTURE(n);
+        std::vector<uint16_t> part(src.begin(), src.begin() + n);
+        const auto            packed = pack12Packed(part);
+        std::vector<uint16_t> out(n, 0xFFFF);
+        unpack12(PixelLayout::BayerRG12Packed, packed.data(), out.data(), n);
+        CHECK(out == part);
+        unpack12(PixelLayout::BayerRG12p, pack12p(part).data(), out.data(), n);
+        CHECK(out == part);
+    }
+}
+
 TEST_CASE("brightness sample: 8-bit layouts") {
     const uint32_t w = 400, h = 300;
     SUBCASE("mid grey") {
@@ -117,6 +166,12 @@ TEST_CASE("brightness sample: 12-bit is reported on the 0..255 scale") {
     s = sampleBrightness(f.data(), f.size(), PixelLayout::BayerRG12p, w, h);
     CHECK(s.mean == doctest::Approx(4095 / 16.0));
     CHECK(s.clipped == 1);
+    // GigE 12Packed, with values that read differently as 12p: 0x640 = 1600.
+    std::fill(v.begin(), v.end(), 1600);
+    f = pack12Packed(v);
+    s = sampleBrightness(f.data(), f.size(), PixelLayout::BayerRG12Packed, w, h);
+    REQUIRE(s.valid());
+    CHECK(s.mean == doctest::Approx(100));
 }
 
 TEST_CASE("brightness sample refuses what it cannot read") {