[Rock-dev] camera_firewire driver automatically selects format7_0 for Bayer modes

[Martin.Azkarate at esa.int]

Hi there,

Inside the camera_firewire c++ library, in the CamFireWire class 
implementation, if the orogen property camera_format is set to any of the 
Bayer modes, CamFireWire sets the camera video_mode to format7_0. This may 
have some utility in other cases but when using a stereo camera 
(Bumblebee2 for my case) this format does not correspond to a stereo 
format and only one image (+some weird noise) can be extracted after 
de-interlacing. Right now I changed the line (345 in CamFireWire.cpp) 
where it said:

selected_mode = DC1394_VIDEO_MODE_FORMAT7_0; 

to

selected_mode = DC1394_VIDEO_MODE_FORMAT7_3;

and that did the trick for me. But it could be useful to have an 
additional property in the camera_base orogen that would let you select 
between the different formats.

Regards,
Martin Azkarate
ESA - European Space Agency
Spanish Trainee, TEC-MMA - Automation and Robotics Section 
ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, PO Box 299 
NL-2200 AG Noordwijk, The Netherlands 
Martin.Azkarate at esa.int | www.esa.int 
Tel +31 71 565 3480 | Mob +31 650 625 564 

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