海康威视相机-LINUX SDK 开发

计算机视觉 2023-08-30 16:08:20 468人浏览八月长安

摘要

硬件与环境相机： MV-CS020-10GC 系统：ubuntu 22.04 语言：c++ 工具：cmake 海康官网下载SDK 运行下面的命令进行安装 sudo dpkg -i MVSXXX.deb 安装完成后从在/opt/MV

硬件与环境

mvs

相机： MV-CS020-10GC
系统：ubuntu 22.04
语言：c++
工具：cmake
海康官网下载SDK
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运行下面的命令进行安装

sudo dpkg -i  MVSXXX.deb

安装完成后从在/opt/MVS 路径下就有了相关的库，实际上我们开发的时候只需要lib和include。有兴趣的同学也可以尝试以下Samples的例子。make一下就能生成可执行文件。如果make报错，可能环境变量没有设置好，到bin文件夹下把那几个设置环境变量的shell脚本运行一下再试一试。

make

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这里是我运行了/opt/MVS/Samples/64/Display下的例子。

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开发

实际上我们开发的时候只需要目录/opt/MVS/lib和/opt/MVS/include下的文件。他们是海康提供的链接库。所以我们在写程序的时候链接到海康的库，我们就能调用海康官方的接口了。

我将海康的库放在我工程的3rdPartys下，这样就移植到其他电脑上会比较方便。

add_library(        cameraapi        SHARED)# Define preprocessor Macro for exporting symbols on windowsif(WIN32)        target_compile_definitions(cameraAPI PRIVATE cameraAPI_EXPORTS)endif()message( target name: cameraAPI )target_include_directories(        cameraAPI  PRIVATE        ${OpenCV_INCLUDE_DIRS}        ./include        ./3rdPartys/mvsinclude)target_sources(        cameraAPI PRIVATE        ./src/edge_camera.cpp)target_link_directories(        cameraAPI  PUBLIC        ${OpenCV_LIBS}        ./3rdPartys/mvslib/64)target_link_libraries(        cameraAPI  PRIVATE        ${OpenCV_LIBS}        mvcameraControl        pthread)

主要的程序

//// Created by zc on 8/24/23.//#include "edge_camera.h" EDGE_CAMERA::EDGE_CAMERA() {    std::cout<<"EDGE_CAMERA BEGIN!"<<std::endl;}EDGE_CAMERA::~EDGE_CAMERA(){    std::cout<<"EDGE_CAMERA FINISH!"<<std::endl;}// print the discovered devices' infORMationvoid EDGE_CAMERA::PrintDeviceInfo(MV_CC_DEVICE_INFO* pstMVDevInfo){    if (nullptr == pstMVDevInfo)    {        printf("    NULL info.\n\n");        return;    }    if (MV_GIGE_DEVICE == pstMVDevInfo->nTLayerType)    {        unsigned int nIp1 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24);        unsigned int nIp2 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16);        unsigned int nIp3 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8);        unsigned int nIp4 = (pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);        // en:Print current ip and user defined name        printf("    IP: %d.%d.%d.%d\n" , nIp1, nIp2, nIp3, nIp4);        printf("    UserDefinedName: %s\n" , pstMVDevInfo->SpecialInfo.stGigEInfo.chUserDefinedName);        printf("    Device Model Name: %s\n\n", pstMVDevInfo->SpecialInfo.stGigEInfo.chModelName);    }    else if (MV_USB_DEVICE == pstMVDevInfo->nTLayerType)    {        printf("    UserDefinedName: %s\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chUserDefinedName);        printf("    Device Model Name: %s\n\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chModelName);    }    else    {        printf("    Not support.\n\n");    }}//  en:Convert pixel arrangement from RGB to BGRvoid EDGE_CAMERA::RGB2BGR( unsigned char* pRgbData, unsigned int nWidth, unsigned int nHeight ){    if ( nullptr == pRgbData )    {        return;    }    // RGB TO BGR    for (unsigned int j = 0; j < nHeight; j++)    {        for (unsigned int i = 0; i < nWidth; i++)        {            unsigned char red = pRgbData[j * (nWidth * 3) + i * 3];            pRgbData[j * (nWidth * 3) + i * 3]     = pRgbData[j * (nWidth * 3) + i * 3 + 2];            pRgbData[j * (nWidth * 3) + i * 3 + 2] = red;        }    }}// en:Convert data stream to Mat format then save imagebool EDGE_CAMERA::Convert2Mat(MV_FRAME_OUT_INFO_EX *pstImageInfo, unsigned char *pData, cv::Mat &img){    if (nullptr == pstImageInfo || nullptr == pData)    {        printf("NULL info or data.\n");        return false;    }    cv::Mat srcImage;    if ( PixelType_Gvsp_Mono8 == pstImageInfo->enPixelType )                // Mono8    {        srcImage = cv::Mat(pstImageInfo->nHeight, pstImageInfo->nWidth, CV_8UC1, pData);    }    else if ( PixelType_Gvsp_RGB8_Packed == pstImageInfo->enPixelType )     // RGB8    {        RGB2BGR(pData, pstImageInfo->nWidth, pstImageInfo->nHeight);        srcImage = cv::Mat(pstImageInfo->nHeight, pstImageInfo->nWidth, CV_8UC3, pData);    }    else if(PixelType_Gvsp_BayerRG8 == pstImageInfo->enPixelType)           // BayerRG8    {        printf("pPixelType_Gvsp_BayerRG8 type is converted to Mat\n");        //RGB2BGR(pData, pstImageInfo->nWidth, pstImageInfo->nHeight);        srcImage = cv::Mat(pstImageInfo->nHeight, pstImageInfo->nWidth, CV_8UC1, pData);       // srcImage.create(srcImage.rows,srcImage.cols,CV_8UC3);        cvtColor(srcImage, srcImage, cv::COLOR_BayerRG2RGB);    }    else    {        printf("Unsupported pixel format\n");        return false;    }    if ( nullptr == srcImage.data )    {        printf("Creat Mat failed.\n");        return false;    }    try    {        // en:Save converted image in a local file        img = srcImage;        cv::imwrite("Image_Mat.bmp", srcImage);    }    catch (cv::Exception& ex)    {        fprintf(stderr, "Exception in saving mat image: %s\n", ex.what());    }    srcImage.release();    return true;}// en:Convert data stream in Ipl format then save imagebool EDGE_CAMERA::Convert2Ipl(MV_FRAME_OUT_INFO_EX* pstImageInfo, unsigned char * pData){    if (nullptr == pstImageInfo || nullptr == pData)    {        printf("NULL info or data.\n");        return false;    }    IplImage* srcImage = nullptr;    if ( PixelType_Gvsp_Mono8 == pstImageInfo->enPixelType )                // Mono8????    {        srcImage = cvCreateImage(cvSize(pstImageInfo->nWidth, pstImageInfo->nHeight), IPL_DEPTH_8U, 1);    }    else if ( PixelType_Gvsp_RGB8_Packed == pstImageInfo->enPixelType )     // RGB8????    {        RGB2BGR(pData, pstImageInfo->nWidth, pstImageInfo->nHeight);        srcImage = cvCreateImage(cvSize(pstImageInfo->nWidth, pstImageInfo->nHeight), IPL_DEPTH_8U, 3);    }    else    {        printf("Unsupported pixel format\n");        return false;    }    if ( nullptr == srcImage )    {        printf("Creat IplImage failed.\n");        return false;    }    srcImage->imageData = (char *)pData;    try    {        // en:Save converted image in a local file        cv::Mat cConvertImage = cv::cvarrToMat(srcImage);        cv::imwrite("Image_Ipl.bmp", cConvertImage);        cConvertImage.release();    }    catch (cv::Exception& ex)    {        fprintf(stderr, "Exception in saving IplImage: %s\n", ex.what());    }    cvReleaseImage(&srcImage);    return true;}void EDGE_CAMERA::findCameras(){    int nRet = MV_OK;    //void* handle = nullptr;    //unsigned char * pData = nullptr;    //MV_CC_DEVICE_INFO_LIST _stDeviceList;    memset(&_stDeviceList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));    // en:Enum device    do {        nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &_stDeviceList);        if (MV_OK != nRet) {            printf("Enum Devices fail! nRet [0x%x]\n", nRet);            break;        }        // en:Show devices        if (_stDeviceList.nDeviceNum > 0) {            for (unsigned int i = 0; i < _stDeviceList.nDeviceNum; i++) {                printf("[device %d]:\n", i);                MV_CC_DEVICE_INFO *pDeviceInfo = _stDeviceList.pDeviceInfo[i];                if (nullptr == pDeviceInfo) {                    break;                }                PrintDeviceInfo(pDeviceInfo);            }        } else {            printf("Find No Devices!\n");            break;        }    }while(false);}void EDGE_CAMERA::connectCameras(){    for(int device = 0; device < _stDeviceList.nDeviceNum; device++){        if (!MV_CC_IsDeviceAccessible(_stDeviceList.pDeviceInfo[device], MV_ACCESS_Exclusive))        {            PrintDeviceInfo(_stDeviceList.pDeviceInfo[device]);            printf("Can't connect %u! ", _stDeviceList.pDeviceInfo[device]->nMacAddrLow);            continue;        }else{            void *handle;            PrintDeviceInfo(_stDeviceList.pDeviceInfo[device]);            printf("connect %10u!\n", _stDeviceList.pDeviceInfo[device]->nMacAddrLow);            int nRet = MV_CC_CreateHandle(&handle, _stDeviceList.pDeviceInfo[device]);            _handlesCameraInfos.push_back({handle,nRet}); //save the handle to handlesCameraInfos            if (MV_OK != nRet)            {                printf("Create Handle fail! nRet [0x%x]\n", nRet);            }        }    }}void EDGE_CAMERA::initCamera(void *handle, int createRetStatus, unsigned int cameraIndex) {    int nRet;    unsigned char * pData = nullptr;  do{      if (createRetStatus != MV_OK)          break;      handle = handle;      // en:Open device      nRet = MV_CC_OpenDevice(handle);      if (MV_OK != nRet) {          printf("Open Device fail! nRet [0x%x]\n", nRet);          break;      }      // en:Detection network optimal package size(It only works for the GigE camera)      if (MV_GIGE_DEVICE == _stDeviceList.pDeviceInfo[cameraIndex]->nTLayerType) {          int nPacketSize = MV_CC_GetOptimalPacketSize(handle);          if (nPacketSize > 0) {              nRet = MV_CC_SetIntValue(handle, "GevSCPSPacketSize", nPacketSize);              if (MV_OK != nRet) {                  printf("Warning: Set Packet Size fail! nRet [0x%x]!", nRet);              }          } else {              printf("Warning: Get Packet Size fail! nRet [0x%x]!", nPacketSize);          }      }      //en:Set trigger mode as off      nRet = MV_CC_SetEnumValue(handle, "TriggerMode", 0);      if (MV_OK != nRet) {          printf("Set Trigger Mode fail! nRet [0x%x]\n", nRet);          break;      }      // en:Get payload size      MVCC_INTVALUE stParam;      memset(&stParam, 0, sizeof(MVCC_INTVALUE));      nRet = MV_CC_GetIntValue(handle, "PayloadSize", &stParam);      if (MV_OK != nRet) {          printf("Get PayloadSize fail! nRet [0x%x]\n", nRet);          break;      }      unsigned int nPayloadSize = stParam.nCurValue;      // en:Init image info      MV_FRAME_OUT_INFO_EX stImageInfo = {0};      memset(&stImageInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));      pData = (unsigned char *) malloc(sizeof(unsigned char) * (nPayloadSize));      if (nullptr == pData) {          printf("Allocate memory failed.\n");          break;      }      memset(pData, 0, sizeof(pData));      //  en:Start grab image      nRet = MV_CC_StartGrabbing(handle);      if (MV_OK != nRet) {          printf("Start Grabbing fail! nRet [0x%x]\n", nRet);          break;      }      _camerasDatas.push_back({handle,pData,nPayloadSize,stImageInfo});      // en:Get one frame from camera with timeout=1000ms    }while(false);      }void EDGE_CAMERA::initAllCameras(){    unsigned int nCameraIndex = _handlesCameraInfos.size();    unsigned int cameraIndex = 0;    for(auto handlesCameraInfo:_handlesCameraInfos){        initCamera(handlesCameraInfo.handle, handlesCameraInfo.createRetStatus, cameraIndex);        cameraIndex++;    }}void EDGE_CAMERA::disPlay() {    //initCamera(_handlesCameraInfos[0].handle, _handlesCameraInfos[0].createRetStatus, 0);    std::string winName = "img";    cv::namedWindow(winName, cv::WINDOW_NORMAL);    cv::resizeWindow(winName, cv::Size(900, 600));    while (cv::waiTKEy(50) != 'q') {        unsigned int cameraIndex = 0;        int nRet = MV_CC_GetOneFrameTimeout(_camerasDatas[0].handle, _camerasDatas[0].pData, _camerasDatas[0].nPayloadSize, &_camerasDatas[0].stImageInfo, 1000);        if (MV_OK == nRet) {            printf("Get One Frame: Width[%d], Height[%d], FrameNum[%d]\n",                   _camerasDatas[0].stImageInfo.nWidth, _camerasDatas[0].stImageInfo.nHeight, _camerasDatas[0].stImageInfo.nFrameNum);        } else {            printf("Get Frame fail! nRet [0x%x]\n", nRet);            break;        }        //  en:Convert image data        bool bConvertRet = false;        cv::Mat img;        bConvertRet = Convert2Mat(&_camerasDatas[0].stImageInfo, _camerasDatas[0].pData, img);        imshow(winName, img);        cv::waitKey(20);    }}bool EDGE_CAMERA::getAndProcessImg() {    int nRet = MV_OK;    void* handle = nullptr;    unsigned char * pData = nullptr;    do    {        MV_CC_DEVICE_INFO_LIST stDeviceList;        memset(&stDeviceList, 0, sizeof(MV_CC_DEVICE_INFO_LIST));        // en:Enum device        nRet = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &stDeviceList);        if (MV_OK != nRet)        {            printf("Enum Devices fail! nRet [0x%x]\n", nRet);            break;        }        // en:Show devices        if (stDeviceList.nDeviceNum > 0)        {            for (unsigned int i = 0; i < stDeviceList.nDeviceNum; i++)            {                printf("[device %d]:\n", i);                MV_CC_DEVICE_INFO* pDeviceInfo = stDeviceList.pDeviceInfo[i];                if (nullptr == pDeviceInfo)                {                    break;                }                PrintDeviceInfo(pDeviceInfo);            }        }        else        {            printf("Find No Devices!\n");            break;        }        // en:Select device        unsigned int nIndex = 0;        while (true)        {            printf("Please Input camera index(0-%d): ", stDeviceList.nDeviceNum - 1);            if (1 == scanf("%d", &nIndex))            {                while (getchar() != '\n')                {                    ;                }                if (nIndex >= 0 && nIndex < stDeviceList.nDeviceNum)                {                    if (!MV_CC_IsDeviceAccessible(stDeviceList.pDeviceInfo[nIndex], MV_ACCESS_Exclusive))                    {                        printf("Can't connect! ");                        continue;                    }                    break;                }            }            else            {                while (getchar() != '\n')                {                    ;                }            }        }        // en:Create handle        nRet = MV_CC_CreateHandle(&handle, stDeviceList.pDeviceInfo[nIndex]);        if (MV_OK != nRet)        {            printf("Create Handle fail! nRet [0x%x]\n", nRet);            break;        }        // en:Open device        nRet = MV_CC_OpenDevice(handle);        if (MV_OK != nRet)        {            printf("Open Device fail! nRet [0x%x]\n", nRet);            break;        }        // en:Detection network optimal package size(It only works for the GigE camera)        if (MV_GIGE_DEVICE == stDeviceList.pDeviceInfo[nIndex]->nTLayerType)        {            int nPacketSize = MV_CC_GetOptimalPacketSize(handle);            if (nPacketSize > 0)            {                nRet = MV_CC_SetIntValue(handle, "GevSCPSPacketSize", nPacketSize);                if (MV_OK != nRet)                {                    printf("Warning: Set Packet Size fail! nRet [0x%x]!", nRet);                }            }            else            {                printf("Warning: Get Packet Size fail! nRet [0x%x]!", nPacketSize);            }        }        //en:Set trigger mode as off        nRet = MV_CC_SetEnumValue(handle, "TriggerMode", 0);        if (MV_OK != nRet)        {            printf("Set Trigger Mode fail! nRet [0x%x]\n", nRet);            break;        }        // en:Get payload size        MVCC_INTVALUE stParam;        memset(&stParam, 0, sizeof(MVCC_INTVALUE));        nRet = MV_CC_GetIntValue(handle, "PayloadSize", &stParam);        if (MV_OK != nRet)        {            printf("Get PayloadSize fail! nRet [0x%x]\n", nRet);            break;        }        unsigned int nPayloadSize = stParam.nCurValue;        // en:Init image info        MV_FRAME_OUT_INFO_EX stImageInfo = { 0 };        memset(&stImageInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));        pData = (unsigned char *)malloc(sizeof(unsigned char)* (nPayloadSize));        if (nullptr == pData)        {            printf("Allocate memory failed.\n");            break;        }        memset(pData, 0, sizeof(pData));        //  en:Start grab image        nRet = MV_CC_StartGrabbing(handle);        if (MV_OK != nRet)        {            printf("Start Grabbing fail! nRet [0x%x]\n", nRet);            break;        }        // en:Get one frame from camera with timeout=1000ms        nRet = MV_CC_GetOneFrameTimeout(handle, pData, nPayloadSize, &stImageInfo, 1000);        if (MV_OK == nRet)        {            printf("Get One Frame: Width[%d], Height[%d], FrameNum[%d]\n",                   stImageInfo.nWidth, stImageInfo.nHeight, stImageInfo.nFrameNum);        }        else        {            printf("Get Frame fail! nRet [0x%x]\n", nRet);            break;        }        // en:Stop grab image        nRet = MV_CC_StopGrabbing(handle);        if (MV_OK != nRet)        {            printf("Stop Grabbing fail! nRet [0x%x]\n", nRet);            break;        }        // en:Close device        nRet = MV_CC_CloseDevice(handle);        if (MV_OK != nRet)        {            printf("ClosDevice fail! nRet [0x%x]\n", nRet);            break;        }        //  en:Input the format to convert        printf("\n[0] OpenCV_Mat\n");        printf("[1] OpenCV_IplImage\n");        int nFormat = 0;        while (1)        {            printf("Please Input Format to convert: ");            if (1 == scanf("%d", &nFormat))            {                if (0 == nFormat || 1 == nFormat)                {                    break;                }            }            while (getchar() != '\n')            {                ;            }        }        //  en:Convert image data        bool bConvertRet = false;        cv::Mat img;        if (OpenCV_Mat == nFormat)        {            bConvertRet = Convert2Mat(&stImageInfo, pData, img);        }        else if (OpenCV_IplImage == nFormat)        {            bConvertRet = Convert2Ipl(&stImageInfo, pData);        }        //  en:Print result        if (bConvertRet)        {            printf("OpenCV format convert finished.\n");        }        else        {            printf("OpenCV format convert failed.\n");        }    } while (0);    // en:Destroy handle    if (handle)    {        MV_CC_DestroyHandle(handle);        handle = nullptr;    }    // en:Free memery    if (pData)    {        free(pData);        pData = nullptr;    }    return true;}void EDGE_CAMERA::saveImg(std::string path,unsigned int cameraIndex){}

Main函数

int main(int argc, char **argv){  EDGE_CAMERA camera;   camera.findCameras();   camera.connectCameras();   camera.initAllCameras();   camera.disPlay();   }