关于opencv更改摄像头参数（帧率，分辨率，曝光度……）的几个问题

1，适用于VideoCapture打开的摄像头

VideoCapture capture(0); 设置摄像头参数 不要随意修改

capture.set(CV_CAP_PROP_FRAME_WIDTH, 1080);//宽度

capture.set(CV_CAP_PROP_FRAME_HEIGHT, 960);//高度

capture.set(CV_CAP_PROP_FPS, 30);//帧率 帧/秒

capture.set(CV_CAP_PROP_BRIGHTNESS, 1);//亮度 

capture.set(CV_CAP_PROP_CONTRAST,40);//对比度 40

capture.set(CV_CAP_PROP_SATURATION, 50);//饱和度 50

capture.set(CV_CAP_PROP_HUE, 50);//色调 50

capture.set(CV_CAP_PROP_EXPOSURE, 50);//曝光 50 获取摄像头参数

得到摄像头的参数

capture.get(CV_CAP_PROP_FRAME_WIDTH);

capture.get(CV_CAP_PROP_FRAME_HEIGHT);

capture.get(CV_CAP_PROP_FPS);

capture.get(CV_CAP_PROP_BRIGHTNESS);

capture.get(CV_CAP_PROP_CONTRAST);

capture.get(CV_CAP_PROP_SATURATION);

capture.get(CV_CAP_PROP_HUE);

capture.get(CV_CAP_PROP_EXPOSURE); 获取视频参数：

capture.get(CV_CAP_PROP_FRAME_COUNT);//视频帧数 

然后你会发现除了个别参数你能更改之外（如曝光度），大分布你是不能更改的，甚至都没办法得到，这种并不适用

2，不做开发，只是单纯的更改

那么推荐一个软件，amcap，百度网盘链接，https://pan.baidu.com/s/1pL8nq0V#list/path=%2F，很简单很容易上手。

补，现在突然想起来我的一个学长告诉我的，利用这个软件调节摄像头的曝光度，可以改变帧率，且摄像头会记住曝光度的设置（其他特性就没有这个特点）。-2019.3.12

3，修改opencv的文件，不过效果可能和第一个差不多

大概是在opencv的这个位置，找一下，modules/highgui/src/cap_v4l.cpp，里面有关于参数的设置，位置比较靠前，可以搜索，也可以直接找到

大致在200多行

4，v4l2

下面是我找到的一篇参考，可以突破帧率的限制，当然前提是摄像头支持

https://blog.csdn.net/c406495762/article/details/72732135

目前只适用于Linux系统，本人试验过，120帧的摄像头在只打开摄像头时可以达到100帧左右，设置的图片分辨率越小，能达到的帧率越高

#include <unistd.h>
#include <error.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <pthread.h>
#include <linux/videodev2.h>
#include <sys/mman.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <math.h>
#include <iostream>
#include <iomanip>
#include <string>

using namespace std;
using namespace cv;
#define CLEAR(x) memset(&(x), 0, sizeof(x))

#define IMAGEWIDTH 3264
#define IMAGEHEIGHT 2448

#define WINDOW_NAME1 "【原始图】"					//为窗口标题定义的宏
#define WINDOW_NAME2 "【图像轮廓】"        //为窗口标题定义的宏

Mat g_srcImage; Mat g_grayImage;
int g_nThresh = 90;
int g_nMaxThresh = 255;
RNG g_rng(12345);
Mat g_cannyMat_output;
vector<vector<Point> > g_vContours;
vector<Vec4i> g_vHierarchy;
Point point1[100000];
Point point2[100000];
Point point3[100000];
int ii,iii;
int flag2 = 0;//避障用
float number = 0;
int fps=0;


class V4L2Capture {
public:
    V4L2Capture(char *devName, int width, int height);
    virtual ~V4L2Capture();

    int openDevice();
    int closeDevice();
    int initDevice();
    int startCapture();
    int stopCapture();
    int freeBuffers();
    int getFrame(void **,size_t *);
    int backFrame();
    static void test();

private:
    int initBuffers();

    struct cam_buffer
    {
        void* start;
        unsigned int length;
    };
    char *devName;
    int capW;
    int capH;
    int fd_cam;
    cam_buffer *buffers;
    unsigned int n_buffers;
    int frameIndex;
};

V4L2Capture::V4L2Capture(char *devName, int width, int height) {
    // TODO Auto-generated constructor stub
    this->devName = devName;
    this->fd_cam = -1;
    this->buffers = NULL;
    this->n_buffers = 0;
    this->frameIndex = -1;
    this->capW=width;
    this->capH=height;
}

V4L2Capture::~V4L2Capture() {
    // TODO Auto-generated destructor stub
}

int V4L2Capture::openDevice() {
    /*设备的打开*/
    printf("video dev : %s\n", devName);
    fd_cam = open(devName, O_RDWR);
    if (fd_cam < 0) {
        perror("Can't open video device");
    }
    return 0;
}

int V4L2Capture::closeDevice() {
    if (fd_cam > 0) {
        int ret = 0;
        if ((ret = close(fd_cam)) < 0) {
            perror("Can't close video device");
        }
        return 0;
    } else {
        return -1;
    }
}

int V4L2Capture::initDevice() {
    int ret;
    struct v4l2_capability cam_cap;		//显示设备信息
    struct v4l2_cropcap cam_cropcap;	//设置摄像头的捕捉能力
    struct v4l2_fmtdesc cam_fmtdesc;	//查询所有支持的格式：VIDIOC_ENUM_FMT
    struct v4l2_crop cam_crop;			//图像的缩放
    struct v4l2_format cam_format;		//设置摄像头的视频制式、帧格式等

    /* 使用IOCTL命令VIDIOC_QUERYCAP，获取摄像头的基本信息*/
    ret = ioctl(fd_cam, VIDIOC_QUERYCAP, &cam_cap);
    if (ret < 0) {
        perror("Can't get device information: VIDIOCGCAP");
    }
    printf(
            "Driver Name:%s\nCard Name:%s\nBus info:%s\nDriver Version:%u.%u.%u\n",
            cam_cap.driver, cam_cap.card, cam_cap.bus_info,
            (cam_cap.version >> 16) & 0XFF, (cam_cap.version >> 8) & 0XFF,
            cam_cap.version & 0XFF);

    /* 使用IOCTL命令VIDIOC_ENUM_FMT，获取摄像头所有支持的格式*/
    cam_fmtdesc.index = 0;
    cam_fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    printf("Support format:\n");
    while (ioctl(fd_cam, VIDIOC_ENUM_FMT, &cam_fmtdesc) != -1) {
        printf("\t%d.%s\n", cam_fmtdesc.index + 1, cam_fmtdesc.description);
        cam_fmtdesc.index++;
    }

    /* 使用IOCTL命令VIDIOC_CROPCAP，获取摄像头的捕捉能力*/
    cam_cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (0 == ioctl(fd_cam, VIDIOC_CROPCAP, &cam_cropcap)) {
        printf("Default rec:\n\tleft:%d\n\ttop:%d\n\twidth:%d\n\theight:%d\n",
                cam_cropcap.defrect.left, cam_cropcap.defrect.top,
                cam_cropcap.defrect.width, cam_cropcap.defrect.height);
        /* 使用IOCTL命令VIDIOC_S_CROP，获取摄像头的窗口取景参数*/
        cam_crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        cam_crop.c = cam_cropcap.defrect;		//默认取景窗口大小
        if (-1 == ioctl(fd_cam, VIDIOC_S_CROP, &cam_crop)) {
            //printf("Can't set crop para\n");
        }
    } else {
        printf("Can't set cropcap para\n");
    }

    /* 使用IOCTL命令VIDIOC_S_FMT，设置摄像头帧信息*/
    cam_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    cam_format.fmt.pix.width = capW;
    cam_format.fmt.pix.height = capH;
    cam_format.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;		//要和摄像头支持的类型对应
    cam_format.fmt.pix.field = V4L2_FIELD_INTERLACED;
    ret = ioctl(fd_cam, VIDIOC_S_FMT, &cam_format);
    if (ret < 0) {
        perror("Can't set frame information");
    }
    /* 使用IOCTL命令VIDIOC_G_FMT，获取摄像头帧信息*/
    cam_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    ret = ioctl(fd_cam, VIDIOC_G_FMT, &cam_format);
    if (ret < 0) {
        perror("Can't get frame information");
    }
    printf("Current data format information:\n\twidth:%d\n\theight:%d\n",
            cam_format.fmt.pix.width, cam_format.fmt.pix.height);
    ret = initBuffers();
    if (ret < 0) {
        perror("Buffers init error");
        //exit(-1);
    }
    return 0;
}

int V4L2Capture::initBuffers() {
    int ret;
    /* 使用IOCTL命令VIDIOC_REQBUFS，申请帧缓冲*/
    struct v4l2_requestbuffers req;
    CLEAR(req);
    req.count = 4;
    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory = V4L2_MEMORY_MMAP;
    ret = ioctl(fd_cam, VIDIOC_REQBUFS, &req);
    if (ret < 0) {
        perror("Request frame buffers failed");
    }
    if (req.count < 2) {
        perror("Request frame buffers while insufficient buffer memory");
    }
    buffers = (struct cam_buffer*) calloc(req.count, sizeof(*buffers));
    if (!buffers) {
        perror("Out of memory");
    }
    for (n_buffers = 0; n_buffers < req.count; n_buffers++) {
        struct v4l2_buffer buf;
        CLEAR(buf);
        // 查询序号为n_buffers 的缓冲区，得到其起始物理地址和大小
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index = n_buffers;
        ret = ioctl(fd_cam, VIDIOC_QUERYBUF, &buf);
        if (ret < 0) {
            printf("VIDIOC_QUERYBUF %d failed\n", n_buffers);
            return -1;
        }
        buffers[n_buffers].length = buf.length;
        //printf("buf.length= %d\n",buf.length);
        // 映射内存
        buffers[n_buffers].start = mmap(
                NULL, // start anywhere
                buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd_cam,
                buf.m.offset);
        if (MAP_FAILED == buffers[n_buffers].start) {
            printf("mmap buffer%d failed\n", n_buffers);
            return -1;
        }
    }
    return 0;
}

int V4L2Capture::startCapture() {
    unsigned int i;
    for (i = 0; i < n_buffers; i++) {
        struct v4l2_buffer buf;
        CLEAR(buf);
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index = i;
        if (-1 == ioctl(fd_cam, VIDIOC_QBUF, &buf)) {
            printf("VIDIOC_QBUF buffer%d failed\n", i);
            return -1;
        }
    }
    enum v4l2_buf_type type;
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (-1 == ioctl(fd_cam, VIDIOC_STREAMON, &type)) {
        printf("VIDIOC_STREAMON error");
        return -1;
    }
    return 0;
}

int V4L2Capture::stopCapture() {
    enum v4l2_buf_type type;
    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (-1 == ioctl(fd_cam, VIDIOC_STREAMOFF, &type)) {
        printf("VIDIOC_STREAMOFF error\n");
        return -1;
    }
    return 0;
}/*ok*/

int V4L2Capture::freeBuffers() {
    unsigned int i;
    for (i = 0; i < n_buffers; ++i) {
        if (-1 == munmap(buffers[i].start, buffers[i].length)) {
            printf("munmap buffer%d failed\n", i);
            return -1;
        }
    }
    free(buffers);
    return 0;
}

int V4L2Capture::getFrame(void **frame_buf, size_t* len) {
    struct v4l2_buffer queue_buf;
    CLEAR(queue_buf);
    queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    queue_buf.memory = V4L2_MEMORY_MMAP;
    if (-1 == ioctl(fd_cam, VIDIOC_DQBUF, &queue_buf)) {
        printf("VIDIOC_DQBUF error\n");
        return -1;
    }
    *frame_buf = buffers[queue_buf.index].start;
    *len = buffers[queue_buf.index].length;
    frameIndex = queue_buf.index;
    return 0;
}

int V4L2Capture::backFrame() {
    if (frameIndex != -1) {
        struct v4l2_buffer queue_buf;
        CLEAR(queue_buf);
        queue_buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        queue_buf.memory = V4L2_MEMORY_MMAP;
        queue_buf.index = frameIndex;
        if (-1 == ioctl(fd_cam, VIDIOC_QBUF, &queue_buf)) {
            printf("VIDIOC_QBUF error\n");
            return -1;
        }
        return 0;
    }
    return -1;
}
void V4L2Capture::test() {
    unsigned char *yuv422frame = NULL;
    unsigned long yuvframeSize = 0;

    string videoDev="/dev/video0";
    V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()),
            1920, 1080);
    vcap->openDevice();
    vcap->initDevice();
    vcap->startCapture();
    vcap->getFrame((void **) &yuv422frame, (size_t *)&yuvframeSize);

    vcap->backFrame();
    vcap->freeBuffers();
    vcap->closeDevice();
}
void line2(Point point3[100000], int n)
{
    float aa, bb, cc, dd, ee, ff, gg;
    int jj = 0;
    for (;jj <n;jj++)
    {
        aa += point3[jj].x*point3[jj].x;
        bb += point3[jj].x;
        cc += point3[jj].x*point3[jj].y;
        dd += point3[jj].y;
    }
    ee = aa*n - bb*bb;
    if ((int)(ee* 100) != 0)
    {
        ff = (n*cc - bb*dd) / ee;
        gg = (dd - bb*ff) / n;
    }
    else {
        ff = 0;
        gg = 1;
    }
    Point point0, pointn;
    point0.y = 0;
    point0.x = gg;
    pointn.y = (n-1);
    pointn.x = ((n-1) * ff + gg);

    Mat draw_ing2 = Mat::zeros(g_cannyMat_output.size(), CV_8UC3);
    line(draw_ing2, point0, pointn, (255, 255, 255));
    imshow("10", draw_ing2);
    //cout << "\n"<<ff <<"      "<< gg << endl;
    float the =180*atan(ff)/3.14159;
    float dis = ff * 160+gg - 160;
    cout << the << "    " << dis << endl;
    //正中心ff=0，gg=160，逆时ff为正，顺时ff为负
}
void findcolor(cv::Mat &image)
{
    cv::Mat_<cv::Vec3b>::iterator it = image.begin<cv::Vec3b>();
    cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>();
    ii = 0;
    iii = 0;
    int flagg = 0;
        cv::Mat srcX(image.rows, image.cols , CV_32F);
        cv::Mat srcY(image.rows, image.cols, CV_32F);
        for (int i = 0;i < image.rows;i++)
        {
            for (int j = 0;j < image.cols;j++)
            {
                if (flagg == 0)/*这样遍历水平方向无法得到有效数据*/
                {

                    if ((*it)[0] == 255 && (*it)[1] == 0 && (*it)[2] == 255)
                    {
                        flagg = 1;
                        point1[ii].x = i;
                        point1[ii].y = j;
                        ii++;
                    }

                }
                else
                {
                    if ((*it)[0] == 255 && (*it)[1] == 0 && (*it)[2] == 255)
                    {
                        flagg = 0;
                        point2[iii].x = i;
                        point2[iii].y = j;
                        iii++;
                    }
                }
                if (it == itend)
                    break;
                else it++;
            }
        }
        IplImage pImg = IplImage(image);
        CvArr* arr = (CvArr*)&pImg;
        int nn = ii;
        for (;ii > 0;ii--)
        {
            point3[ii].x = (point1[ii].x + point2[ii].x) / 2;
            point3[ii].y = (point1[ii].y + point2[ii].y) / 2;
            //circle(image, point3[ii], 1, (255, 255, 255));
            cvSet2D(arr, point3[ii].x, point3[ii].y, Scalar(255, 255, 255));
        }
        line2(point3, nn);
}

void on_ThreshChange(int, void* )
{
    // 使用Canndy检测边缘
    Canny( g_grayImage, g_cannyMat_output, g_nThresh, g_nThresh*2, 3 );

    // 找到轮廓
    findContours( g_cannyMat_output, g_vContours, g_vHierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE, Point(0, 0) );

    // 计算矩
    vector<Moments> mu(g_vContours.size() );
    for(unsigned int i = 0; i < g_vContours.size(); i++ )
    { mu[i] = moments( g_vContours[i], false ); }

    //  计算中心矩
    vector<Point2f> mc( g_vContours.size() );
    for( unsigned int i = 0; i < g_vContours.size(); i++ )
    { mc[i] = Point2f( static_cast<float>(mu[i].m10/mu[i].m00), static_cast<float>(mu[i].m01/mu[i].m00 )); }

    // 绘制轮廓
    Mat drawing = Mat::zeros(g_cannyMat_output.size(), CV_8UC3);
    for( unsigned int i = 0; i< g_vContours.size(); i++ )
    {
        //Scalar color = Scalar( g_rng.uniform(0, 255), g_rng.uniform(0,255), g_rng.uniform(0,255) );//随机生成颜色值
        Scalar color = Scalar(255, 0, 255);
        drawContours( drawing, g_vContours, i, color, 2, 8, g_vHierarchy, 0, Point() );//绘制外层和内层轮廓
        circle( drawing, mc[i], 4, color, -1, 8, 0 );;//绘制圆
    }

    findcolor(drawing);
    //line1(point1,point2,ii,iii);

    // 显示到窗口中
//    namedWindow( WINDOW_NAME2, WINDOW_AUTOSIZE );
    imshow( WINDOW_NAME2, drawing );

}

void findline(Mat image)
{
    cv::Mat_<cv::Vec3b>::iterator it = image.begin<cv::Vec3b>();
    cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>();
    for (;it != itend;it++)
    {
        if ((*it)[1] == 0 && (*it)[2] >= 100)//条件可能需要改变
        {
            if(flag2==0)
            {
                flag2 = 1;
                cout << "注意line1，避障"<<endl;
                //向主控发送消息
            }
            else
            {
                cout << "注意line2，避障" << endl;
                //向主控发送消息
                //避障一与避障二中间要隔一段时间
            }

        }
    }
}
void wave(const cv::Mat &image, cv::Mat &result)
{
    cv::Mat srcX(image.rows / 2, image.cols / 2, CV_32F);
    cv::Mat srcY(image.rows / 2, image.cols / 2, CV_32F);
    for (int i = 0;i<image.rows /2;i++)
        for (int j = 0;j < image.cols /2;j++)
        {
            srcX.at<float>(i, j) = 2 * j;
            srcY.at<float>(i, j) = 2 * i;
        }
    cv::remap(image, result, srcX, srcY, cv::INTER_LINEAR);
}

void VideoPlayer() {
    unsigned char *yuv422frame = NULL;
    unsigned long yuvframeSize = 0;

    string videoDev = "/dev/video0";
    V4L2Capture *vcap = new V4L2Capture(const_cast<char*>(videoDev.c_str()), 640, 480);
    vcap->openDevice();
    vcap->initDevice();
    vcap->startCapture();

    cvNamedWindow("Capture",CV_WINDOW_AUTOSIZE);
    IplImage* img;
    CvMat cvmat;
    double t;
    clock_t start, end;
    double number=0;
    int fps=0;
    while(1){
        start=clock();
        t = (double)cvGetTickCount();
        vcap->getFrame((void **) &yuv422frame, (size_t *)&yuvframeSize);
        cvmat = cvMat(IMAGEHEIGHT,IMAGEWIDTH,CV_8UC3,(void*)yuv422frame);		//CV_8UC3
        //解码
        img = cvDecodeImage(&cvmat,1);
        if(!img){
            printf("DecodeImage error!\n");
        }
        
        cv::Mat g_srcImage = cv::cvarrToMat(img,true);
        
        cvShowImage("Capture",img);
        cvReleaseImage(&img);
        vcap->backFrame();
        if((cvWaitKey(1)&255) == 27){
            exit(0);
        }



        wave(g_srcImage, g_srcImage);
        findline(g_srcImage);

        // 把原图像转化成灰度图像并进行平滑
        cvtColor(g_srcImage, g_grayImage, COLOR_BGR2GRAY);
        blur(g_grayImage, g_grayImage, Size(3, 3));


        //创建滚动条并进行初始化
        createTrackbar(" 阈值", WINDOW_NAME1, &g_nThresh, g_nMaxThresh, on_ThreshChange);
        on_ThreshChange(0, 0);
		t = (double)cvGetTickCount() - t;
		printf("Used time is %g ms\n", (t / (cvGetTickFrequency() * 1000)));

        end =clock();
        number=number+end-start;
        fps++;
        if (number/ CLOCKS_PER_SEC>= 0.25)//windows10   for   CLK_TCK
        {
            cout<<fps<<endl;
            fps = 0;
            number = 0;
        }
    }
    vcap->stopCapture();
    vcap->freeBuffers();
    vcap->closeDevice();

}

int main() {
    VideoPlayer();

    return 0;
}