Rietschen's RGB camera switched to 12 bits offers BayerRG12Packed, not
BayerRG12p, and the program took it for an unknown format: from 2026-10-26
11:33 every picture was saved as "legacy", undebayered raw bytes. The two
are not the same format under two names. Both put two pixels in three
bytes, but the GigE Vision 1.x packing carries the first pixel's high bits
in the first byte, where GenICam's 12p carries its low ones; read as 12p
every other pixel is scrambled.
BayerRG12Packed is now a layout of its own, unpacked and sampled for
brightness its own way and de-Bayered like 12p. Checked against the
hardware on rietschen's NIR camera (Mono12Packed, the same packing): the
12-bit frame unpacked this way differs from an 8-bit frame of the same view
by 2.8 on average, unpacked as 12p by 29. The gige recipe prefers
BayerRG12Packed, so a re-export keeps the 12 bits. Tests 544/544 (mock).
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Rietschen has three Manta G-1236 on one GbE port, whose firmware predates the
names the program uses. A feature missing by its SFNC name is now looked up by
the older one (ExposureTimeAbs, AcquisitionFrameRateAbs, ExposureAutoTarget,
ExposureAutoAdjustTol), so test camera, the telemetry and the keep rule's
reads work. export_camera_profile.py picks a gige recipe for such a camera:
frame trigger off, BayerRG8 or Mono8, 60 MB/s, auto-exposure target 50 %.
At the cameras' old target of 25 every waypoint ran into frame_timeout_ms.
The camera probe now lists every camera. With several, the hardware.ini kit
writes CHOOSE_ONE, install-tower asks which is the colour one, and the profile
export is given that id - the first one the SDK lists was the NIR camera.
install-tower names the unit that holds the motor port instead of assuming
start_gimbal.service.
Tested on rietschen's NIR camera with the motor mocked, beside the running old
program: test camera PASS, a snapshot as a 3008x4112 grey JXL, a scan keeping
a picture every 5 s. Tests 542/542 (mock build). The colour camera is not yet
tested; the old program has it open.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Peter Bochmann
pgdalmeida