[ros-users] [camera_divers/camera1394] not able to set bayer pattern if camera is format7

[Sebastian Schneider]

I called the AVT support this morning and was told, that the Guppy 
camera doesn't correctly initialize the register that keeps the type of 
the used bayer pattern.

I created a ticket, with a new patch, targeting this camera in particular.

https://code.ros.org/trac/ros-pkg/ticket/5063

Sebastian

Am 13.07.2011 15:11, schrieb Jack O'Quin:
> On Wed, Jul 13, 2011 at 6:18 AM, Sebastian Schneider<schneider at unibw.de>  wrote:
>> Hello,
>>
>> I tried to obtain images from an AVT Guppy using the nodelet configuration,
>> as shown below:
>>
>> <launch>
>>   <!-- nodelet manager process -->
>>   <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager"
>>         args="manager" />
>>
>>   <!-- camera driver nodelet -->
>>   <node pkg="nodelet" type="nodelet" name="camera1394_nodelet"
>>         args="load camera1394/driver camera_nodelet_manager">
>>         <param name="video_mode" value="format7_mode0"/>
>>         <param name="format7_color_coding" value="raw8"/>
>>         <param name="bayer_pattern" value="bggr"/>
>>         <param name="bayer_method" value="" />
>>   </node>
>>
>>   <!-- Bayer color decoding -->
>>   <node pkg="nodelet" type="nodelet" name="image_proc_debayer"
>>         args="load image_proc/debayer camera_nodelet_manager">
>>     <remap from="image_color" to="camera/image_color" />
>>     <remap from="image_mono" to="camera/image_mono" />
>>     <remap from="image_raw" to="camera/image_raw" />
>>   </node>
>>
>>   <!-- Image View Node -->
>>   <node pkg="image_view" type="image_view" name="image_view">
>>     <remap from="image" to="camera/image_color"/>
>>   </node>
>> </launch>
>>
>> However, the bayer pattern reconstruction is using the pattern rggb, instead
>> of bggr, as it was told. Changing the pattern using the dynamic_reconfigure
>> GUI, also does have no effect.
>>
>> I tried to trace the problem down and I found out, that as my camera is set
>> to work in the format7 video-mode, thus most of the work is happening in
>> camera_drivers/camera1394/src/nodes/format7.{h,cpp}. I looked into the files
>> and found out, that the desired pattern is no where set in the code.
>> Instead, regardless of the configured value, the pattern type is always read
>> from the camera, using the dc1394_format7_get_color_filter function. The
>> corresponding function to set the value was removed from libdc1394 a long
>> time ago (God knows why).
>>
>> Since I don't know how to manipulate this value, I wrote a patch for
>> format7.{h,cpp} that basically stores the value of the desired bayer
>> pattern, and passes this value on in the corresponding field of
>> sensor_msgs::Image in the function unpackData. The patch is appended to this
>> email.
>>
>> I'm not sure if what I do there is right, even though I now have color
>> images with the correct color (the sky is really blue now). Maybe someone
>> responsible for the developement of this driver can have a look at it.
>
> OK. Please open a bug ticket for this problem.
>
> As best I can recall, the driver assumes that the Format7 Bayer
> pattern reported by the device is correct and overrides user input in
> that case. Maybe that's not true for your device?
>
> Thanks for the report,