关于usb双目摄像头的读取与设置问题记录(帧率与双相机和果冻效应)

系统为ubuntu20.04，双目相机为USB双目相机，同帧。

1.双目相机参数查看

在ubuntu系统下下载安装包

sudo apt-get install v4l-utils

安装完成使用`ls /dev`查看相机的序号，如果是笔记本会默认有0号相机，同帧的相机序号为2。

使用下列命令查看相机参数

v4l2-ctl -d /dev/video2 --list-formats-ext

在命令行输出为：

ioctl: VIDIOC_ENUM_FMT
Type: Video Capture

[0]: 'MJPG' (Motion-JPEG, compressed)
	Size: Discrete 1280x720
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 320x180
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 320x240
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 352x288
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 960x540
		Interval: Discrete 0.033s (30.000 fps)
[1]: 'YUYV' (YUYV 4:2:2)
	Size: Discrete 1280x720
		Interval: Discrete 0.100s (10.000 fps)
	Size: Discrete 320x180
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 320x240
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 352x288
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 424x240
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 640x360
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 640x480
		Interval: Discrete 0.033s (30.000 fps)
	Size: Discrete 848x480
		Interval: Discrete 0.050s (20.000 fps)
	Size: Discrete 960x540
		Interval: Discrete 0.067s (15.000 fps)

可以看出本相机的参数和对应设置下的帧率

2.设置相机参数

根据上面得到的信息，可以设置相机的读取格式为MJPG，并且本相机为同帧同相机，所以为了能够获取左右相机，最终设置可以如下：

import cv2

def read_camera():
    # 打开摄像头
    cap = cv2.VideoCapture(2)
    # cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'YUYV'))
    cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*'MJPG'))
    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
    # cap.set(cv2.CAP_PROP_FPS, 30)
    while True:
        # 读取视频流的帧
        ret, frame = cap.read()
        print(frame.shape)
        current_shutter_speed = cap.get(cv2.CAP_PROP_EXPOSURE)
        current_fps = cap.get(cv2.CAP_PROP_FPS)
        print(f"当前快门速度：{current_shutter_speed}")
        print(f"当前帧率：{current_fps}")
        # 如果成功读取帧
        if ret:
            # 在窗口中显示帧
            cv2.imshow('Camera', frame)

        # 按下 'q' 键退出循环
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

    # 关闭摄像头
    cap.release()

    # 关闭显示窗口
    cv2.destroyAllWindows()

# 调用函数实时读取摄像头
read_camera()

最终相机不会出现帧率低并且能够达到30fps并且输出一张完整的左右相机图