海康威视相机-LINUX SDK 开发

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/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

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

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 Windows

if(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){unsignedint nIp1 =((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp &0xff000000)>>24);unsignedint nIp2 =((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp &0x00ff0000)>>16);unsignedint nIp3 =((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp &0x0000ff00)>>8);unsignedint nIp4 =(pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp &0x000000ff);// en:Print current ip and user defined nameprintf("    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);}elseif(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(unsignedchar* pRgbData,unsignedint nWidth,unsignedint nHeight ){if( nullptr == pRgbData ){return;}// RGB TO BGRfor(unsignedint j =0; j < nHeight; j++){for(unsignedint i =0; i < nWidth; i++){unsignedchar 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 image
bool EDGE_CAMERA::Convert2Mat(MV_FRAME_OUT_INFO_EX *pstImageInfo,unsignedchar*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);}elseif( PixelType_Gvsp_RGB8_Packed == pstImageInfo->enPixelType )// RGB8{RGB2BGR(pData, pstImageInfo->nWidth, pstImageInfo->nHeight);
        srcImage = cv::Mat(pstImageInfo->nHeight, pstImageInfo->nWidth, CV_8UC3, pData);}elseif(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 image
bool EDGE_CAMERA::Convert2Ipl(MV_FRAME_OUT_INFO_EX* pstImageInfo,unsignedchar* 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);}elseif( 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 devicedo{
        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 devicesif(_stDeviceList.nDeviceNum >0){for(unsignedint 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 handlesCameraInfosif(MV_OK != nRet){printf("Create Handle fail! nRet [0x%x]\n", nRet);}}}}void EDGE_CAMERA::initCamera(void*handle,int createRetStatus,unsignedint cameraIndex){int nRet;unsignedchar* 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;}unsignedint nPayloadSize = stParam.nCurValue;// en:Init image info
      MV_FRAME_OUT_INFO_EX stImageInfo ={0};memset(&stImageInfo,0,sizeof(MV_FRAME_OUT_INFO_EX));
      pData =(unsignedchar*)malloc(sizeof(unsignedchar)*(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 (true) {
          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:Convert image data
          bool bConvertRet = false;
          cv::Mat img;
          bConvertRet = Convert2Mat(&stImageInfo, pData, img);
          cv::namedWindow("img", cv::WINDOW_NORMAL);
          cv::resizeWindow("img", cv::Size(900, 600));
          imshow("img", img);
          cv::waitKey(20);

      }*/}while(false);/* // 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;*/}void EDGE_CAMERA::initAllCameras(){unsignedint nCameraIndex = _handlesCameraInfos.size();unsignedint 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'){unsignedint 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;unsignedchar* 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 devicesif(stDeviceList.nDeviceNum >0){for(unsignedint 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 deviceunsignedint 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;}unsignedint nPayloadSize = stParam.nCurValue;// en:Init image info
        MV_FRAME_OUT_INFO_EX stImageInfo ={0};memset(&stImageInfo,0,sizeof(MV_FRAME_OUT_INFO_EX));
        pData =(unsignedchar*)malloc(sizeof(unsignedchar)*(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 convertprintf("\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);}elseif(OpenCV_IplImage == nFormat){
            bConvertRet =Convert2Ipl(&stImageInfo, pData);}//  en:Print resultif(bConvertRet){printf("OpenCV format convert finished.\n");}else{printf("OpenCV format convert failed.\n");}}while(0);// en:Destroy handleif(handle){MV_CC_DestroyHandle(handle);
        handle = nullptr;}// en:Free memeryif(pData){free(pData);
        pData = nullptr;}return true;}void EDGE_CAMERA::saveImg(std::string path,unsignedint cameraIndex){}

Main函数

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

执行效果

注意

我是编译了一个动态库cameraAPI，main函数是链接的camkeraAPI。上面是把最重要的代码给贴出来了。不是完整的工程哈。