camera focus - adujardin/kalibr GitHub Wiki
This ROS node assists you with setting the focus of a camera in a reproducible way. The tool subscribes to the camera's image topic and displays the live image together with a measure of focus. Point the camera at a scene with high frequency components (e.g. Siemens star, checkerboard) and adjust the focus while trying to minimize the calculated focus measure.
The tool can be launched with:
kalibr_camera_focus --topic [IMAGE_TOPIC]
Please cite the appropriate papers when using this toolbox or parts of it in an academic publication.