[ros-users] Autofocus for Logitech QC Pro 9000

[Dejan Pangercic]

Hi Eric,

after a bit of debugging I found the cause of my problem but not the
remedy (yet).
So the problem is that the calls to "cam_->set_control()" function in
the "reconfig()" callback
fail in a rather random fashion which leads  to the exceptions being
thrown and which prevents the following line to be
executed:
"config_ = newconfig;                // save new parameters"
Because of this cvCreateImageHeader got initialized with some bogus
width and height values and thus also seg. faulted.

For now I just commented all the calls to the above mentioned
"set_control()" function and this way the driver seems to behave, that
is outputs images. Though it for some reason does not preserve
settings left from guvcview.

cheers, D.
On Mon, Aug 30, 2010 at 8:12 PM, Eric Perko <wisesage5001 at gmail.com> wrote:
> Hi Dejan,
> Not sure. We've not seen that before and it seems pretty weird that it would
> be segfaulting in the creation of the OpenCV header unless config_.width or
> config_.height are wrong.
> What version of opencv is that building against? And what are the values for
> config_.height and config_.width that are causing it to fail? I'm assuming
> you can get those from gdb when it crashes?
> - Eric
>
> On Mon, Aug 30, 2010 at 1:43 PM, Dejan Pangercic <dejan.pangercic at gmail.com>
> 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
>> >> _______________________________________________
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>> >
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>>
>>
>>
>> --
>> 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
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>> ros-users mailing list
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-- 
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