修改摄像头分辨率并发布Topic

最近买了个1280x960的黑白摄像头，默认输出640x480，需要调节摄像头参数。

最终代码：

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/nonfree/nonfree.hpp>

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <ros/ros.h>
#include <image_transport/image_transport.h>
using namespace std;
using namespace cv;

int main(int argc, char** argv)
{


    sensor_msgs::ImagePtr img_msg; // >> message to be sent
    cv::Mat frame;
    ros::init(argc, argv, "cam");
    ros::NodeHandle nh;
    int32_t device_id(0);
    int32_t image_width(1280);
    int32_t image_height(960);
    nh.getParam("device_id",device_id);
    nh.getParam("image_width",image_width);
    nh.getParam("image_height",image_height);
    VideoCapture cap(device_id); // open the default camera

    if(!cap.isOpened())cout<<"Error open cam!"<<endl;
    if(!cap.isOpened())return -1;// check if we succeeded

    cout<<"Camera is open,to topic:cam/image"<<endl;
    bool bsw,bsh;
    if(cap.get(CV_CAP_PROP_FRAME_WIDTH)!=image_width)
    {
        bsw = cap.set(CV_CAP_PROP_FRAME_WIDTH,image_width);
        bsh = cap.set(CV_CAP_PROP_FRAME_HEIGHT,image_height);
    }
    cout<<"Resolution:"<<cap.get(CV_CAP_PROP_FRAME_WIDTH)<<"x"<<cap.get(CV_CAP_PROP_FRAME_HEIGHT)<<endl;

    image_transport::ImageTransport it(nh);
    image_transport::Publisher pub_img = it.advertise("cam/image", 1);
    ros::Rate rate(50);
    while(nh.ok())
    {
        cap >> frame; // get a new frame from camera
        img_msg=cv_bridge::CvImage(std_msgs::Header(), "bgr8", frame).toImageMsg();
        pub_img.publish(img_msg); // ros::Publisher pub_img = node.advertise<sensor_msgs::Image>("topic", queuesize);
        ros::spinOnce();
        rate.sleep();
    }
    return 0;
}

这里有个问题，就是插上摄像头第一次可以调用set进行写入参数，但是第二次就会报错：
HIGHGUI ERROR: V4L: Initial Capture Error: Unable to load initial memory buffers.
现在还没搞清什么原因，我就才去了一个办法：

    if(cap.get(CV_CAP_PROP_FRAME_WIDTH)!=image_width)
    {
        bsw = cap.set(CV_CAP_PROP_FRAME_WIDTH,image_width);
        bsh = cap.set(CV_CAP_PROP_FRAME_HEIGHT,image_height);
    }

就是一般情况不需要频繁调节分辨率，所以先读取现在的分辨率，如果和想要的一致（插上摄像头第一次运行已经配置好了）就不执行set函数了。

然后是launch文件：

<launch>
  <param name="device_id" value="0"/>
  <param name="image_width" value="1280"/>
  <param name="image_height" value="960"/>
  <node pkg="demo" type="cam" name="cam" output="screen">
  </node>
</launch>

还没完，标定时发现没发布camera_info信息。待续