[ros-users] Autofocus for Logitech QC Pro 9000

[Bill Morris]

You can also try this fork if you want.
http://robotics.ccny.cuny.edu/git/usb_cam.git

The biggest problem you are going to have is the camera calibration
changes for each focal distance. I started implementing code to
generate and load the calibrations dynamically but it isn't done yet.

Right now the calibration files are automatically named based on the usb
VID, PID and serial number. The next step is to add the focal length to
the file name.

You can run guvcview at the same time as the cameradriver to turn
autofocus on. Right now the uvc_cam  driver does not change any of the
setting.

Another option is to do it in the code something like this...
struct v4l2_control c;
c.id = V4L2_CID_BRIGHTNESS;
c.value = 192;
xioctl(fd, VIDIOC_S_CTRL, &c);


On Mon, 2010-08-30 at 19:43 +0200, Dejan Pangercic wrote: 
> Hi Eric,
> 
> as always a really great hint and it would've worked out perfectly but
> I could not get the camera to run using the forked version of the
> driver (github.com/ericperko/uvc_cam).
> It segfaults in the line 178 of the uvc_cam/src/uvc_cam_node.cpp file
> while creating the image header:
> IplImage *imageIpl =
> cvCreateImageHeader(cvSize(config_.width,config_.height), 8, 3);
> 
> See also my backtrace:
> http://pastie.org/1127043
> 
> Any idea why this might happen?
> 
> cheers,D.
> 
> On Mon, Aug 30, 2010 at 10:27 AM, Eric Perko <wisesage5001 at gmail.com> wrote:
> > Dejan,
> > Did you take a look at the uvc_cam driver
> > (http://www.ros.org/browse/details.php?name=uvc_cam)? I don't remember if it
> > or the fork my group was doing some work on (github.com/ericperko/uvc_cam)
> > supports autofocus at the moment, but I do recall that adding features to
> > the dynamic reconfigure settings was pretty easy if it works in guvcview.
> > Since both use the same uvc driver interface, code that works in guvcview
> > should be easily portable to the uvc_cam driver. I've CC'd my collaborator
> > that has been using it regularly for a while and did most of the driver side
> > stuff, so he may be able to give some more info if I'm totally wrong in any
> > of this (It has been a while since I did any serious work on the driver).
> > I'm pretty sure that, at the very least, if you save your settings with
> > guvcview and then do not change them with a uvc based camera driver on
> > startup, the cameras should maintain the settings from guvcview.
> > Also, I hadn't noticed that there are more options when guvcview is run as
> > root vs. a regular user. We've been having some issues with parameters
> > acting weirdly on some cheap webcams that we have and perhaps running as
> > root may expose some more parameters that might allow us to solve the
> > weirdness. Luckily, better cameras such as the Logitech Webcam Pro 9000
> > haven't given us any trouble so far.
> > I can't really say for how easy it would be to add that feature to the other
> > drivers compared to adding it to a uvc based driver. If you do hack on this
> > based on our fork, patches are welcome :)
> > - Eric
> > On Mon, Aug 30, 2010 at 3:55 AM, Dejan Pangercic <dejan.pangercic at gmail.com>
> > wrote:
> >>
> >> Dear ROS-istas,
> >>
> >> I got a Logitech QC Pro 9000 camera which came with an autofocus
> >> property and which I can set in e.g. guvcview (though only as su
> >> user). It is set to false by default and it would be nice to be able
> >> to enable it within any of the ROS drivers. I did not find this
> >> feature in any of the existing drivers I tried out (gscam,
> >> logitech_web_cam,  logitech_usb_webcam, usb_cam).
> >> Said that, does anyone know which driver would be the simplest to
> >> bring this feature in?
> >>
> >> thx and cheers, D.
> >> --
> >> MSc. Dejan Pangercic
> >> PhD Student/Researcher
> >> Intelligent Autonomous Systems Group
> >> Technische Universität München
> >> Telephone: +49 (89) 289-26908
> >> E-Mail: dejan.pangercic at cs.tum.edu
> >> WWW: http://ias.cs.tum.edu/people/pangercic
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> 
> 
>