Ubuntu 连接海康智能相机步骤(亲测，成功读码)

Ubuntu 连接海康智能相机步骤(亲测，已成功读码)

(就是按照海康的提供的步骤和源码连接相机，流水账)

1. 安装Ubuntu20.04
2. 安装gcc和g++，IDmvs只提供了C代码，所以需要自己make编译，自己去搜下怎么安装。
3. 官网下载IDMVS软件，进入海康机器人页面，进入下载选项，，选择客户端下载，第二页，选择里面的IDMVS(linux)
4. 解压安装，我是用deb文件安装的，选择X86_64版本。
5. 安装完成后，在菜单栏里面有IDMVS图标，可以直接打开，或者进入/opt/IDMVS/bin/,运行./IDMVS.sh，两种方法都能打开客户端。
6. 连接相机，如果没有找到相机你可以在windows上先连下相机试试，然后设定固定IP，连接相机
7. 连上之后，进入/opt/IDMVS/有个demo的文件夹，具体在哪里忘记了，可以找一下，
8. IDMVS只提供了两个demo，进入/GrabImage/目录下，应该只有两个文件，一个GrabImage.c，一个makefile。

10. 然后把上级目录下的/sdk/里面的.so文件放到/GrabImage/目录下。
11. 然后sudo make(如果你之前装好了g++和gcc，应该可以make成功)
12. 执行生成后的文件。./GrabImage，就OK了，选择你想要连接的相机。就能看到获取到的结果了。

以下是GrabImage.c的代码

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <pthread.h>

#include <cstdlib>
#include <string>
#include <iconv.h>

#include "MvCodeReaderParams.h"
#include "MvCodeReaderErrorDefine.h"
#include "MvCodeReaderCtrl.h"

bool g_bExit = false;
// ch:中文转换条码长度定义 | en：Chinese coding format len
#define MAX_BCR_LEN  512

// ch:中文编码GB2312格式转换UTF_8 | en: Chinese coding format GB2312 to utf_8
int GB2312ToUTF8(char* szSrc, size_t iSrcLen, char* szDst, size_t iDstLen)
{
    iconv_t cd = iconv_open("utf-8//IGNORE", "gb2312//IGNORE");
	if(0 == cd)
    {
		return -2;  
	}
		  
    memset(szDst, 0, iDstLen);
    char **src = &szSrc;
    char **dst = &szDst;
    if(-1 == (int)iconv(cd, src, &iSrcLen, dst, &iDstLen))
    {
		return -1; 
	}
		  
    iconv_close(cd);
    return 0;
}

// ch:等待用户输入enter键来结束取流或结束程序
// en:wait for user to input enter to stop grabbing or end the sample program
void PressEnterToExit(void)
{
    int c;
    while ( (c = getchar()) != '\n' && c != EOF );
    fprintf( stderr, "\nPress Enter to exit.\n");
    while( getchar() != '\n');
    g_bExit = true;
    usleep(1);
}

// ch:打印设备信息 | en:Print device Info
bool PrintDeviceInfo(MV_CODEREADER_DEVICE_INFO* pstMVDevInfo)
{
    if (NULL == pstMVDevInfo)
    {
        printf("The Pointer of pstMVDevInfo is NULL!\r\n");
        return false;
    }

    if (MV_CODEREADER_GIGE_DEVICE == pstMVDevInfo->nTLayerType)
    {
        int nIp1 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24);
        int nIp2 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16);
        int nIp3 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8);
        int nIp4 = (pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);

        // ch:打印当前相机ip和用户自定义名字 | en:print current ip and user defined name
        printf("CurrentIp: %d.%d.%d.%d\r\n" , nIp1, nIp2, nIp3, nIp4);
        printf("UserDefinedName: %s\r\n\n" , pstMVDevInfo->SpecialInfo.stGigEInfo.chUserDefinedName);
    }
    else if (MV_CODEREADER_USB_DEVICE == pstMVDevInfo->nTLayerType)
    {
        printf("UserDefinedName: %s\r\n\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chUserDefinedName);
    }
    else
    {
        printf("Not support.\r\n");
    }

    return true;
}

// ch:获取图像线程 | en:Get Image Thread
static void* GrabImageThread(void* pUser)
{
    int nRet = MV_CODEREADER_OK;

    MV_CODEREADER_IMAGE_OUT_INFO_EX2 stImageInfo = {0};
    memset(&stImageInfo, 0, sizeof(MV_CODEREADER_IMAGE_OUT_INFO_EX2));
    unsigned char * pData = NULL;

    while(1)
    {
        if (g_bExit)
        {
            break;
        }

        nRet = MV_CODEREADER_GetOneFrameTimeoutEx2(pUser, &pData, &stImageInfo, 1000);
        if (nRet == MV_CODEREADER_OK)
        {
            MV_CODEREADER_RESULT_BCR_EX* stBcrResult = (MV_CODEREADER_RESULT_BCR_EX*)stImageInfo.pstCodeListEx;

            printf("Get One Frame: nChannelID[%d] Width[%d], Height[%d], nFrameNum[%d], nTriggerIndex[%d]\n", 
                stImageInfo.nChannelID, stImageInfo.nWidth, stImageInfo.nHeight, stImageInfo.nFrameNum, stImageInfo.nTriggerIndex);

            printf("CodeNum[%d]\n", stBcrResult->nCodeNum);

			char strChar[MAX_BCR_LEN] = {0};
            for (int i = 0; i < stBcrResult->nCodeNum; i++)
            {
				memset(strChar, 0, MAX_BCR_LEN);
				nRet = GB2312ToUTF8(stBcrResult->stBcrInfoEx[i].chCode, strlen(stBcrResult->stBcrInfoEx[i].chCode), strChar, MAX_BCR_LEN);
				if (nRet == MV_CODEREADER_OK)
				{
					printf("CodeNum[%d] Code[%s]\r\n", i, strChar);
				}
				else
				{
					printf("CodeNum[%d] Code[%s]\r\n", i, stBcrResult->stBcrInfoEx[i].chCode);
				}				
            }
        }
        else
        {
            printf("No data[0x%x]\r\n", nRet);
        }
    }

    return 0;

}

// ch:主处理函数 | en:main process
int main()
{
    int nRet = MV_CODEREADER_OK;
    void* handle = NULL;
	bool bIsNormalRun = true;

    do
    {
        MV_CODEREADER_DEVICE_INFO_LIST stDeviceList;
        memset(&stDeviceList, 0, sizeof(MV_CODEREADER_DEVICE_INFO_LIST));

        // ch:枚举设备 | Enum device
        nRet = MV_CODEREADER_EnumDevices(&stDeviceList, MV_CODEREADER_GIGE_DEVICE);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Enum Devices fail! nRet [%#x]\r\n", nRet);
            break;
        }
        else
        {
            printf("Enum Devices succeed!\r\n");
        }

        if (stDeviceList.nDeviceNum > 0)
        {
            for (unsigned int i = 0; i < stDeviceList.nDeviceNum; i++)
            {
                printf("[device %d]:\r\n", i);
                MV_CODEREADER_DEVICE_INFO* pDeviceInfo = stDeviceList.pDeviceInfo[i];
                if (NULL == pDeviceInfo)
                {
                    break;
                }
                PrintDeviceInfo(pDeviceInfo);
            }
        }
        else
        {
            printf("Find No Devices!\r\n");
            break;
        }

        printf("Please Intput camera index:");
        unsigned int nIndex = 0;
        scanf("%d", &nIndex);

        if (nIndex >= stDeviceList.nDeviceNum)
        {
            printf("Intput error!\r\n");
            break;
        }

        // ch:选择设备并创建句柄 | Select device and create handle
        nRet = MV_CODEREADER_CreateHandle(&handle, stDeviceList.pDeviceInfo[nIndex]);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Create Handle fail! nRet [%#x]\r\n", nRet);
            break;
        }
        else
        {
            printf("Create Handle succeed!\r\n");
        }

        // ch:打开设备 | Open device
        nRet = MV_CODEREADER_OpenDevice(handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Open Device fail! nRet [%#x]\r\n", nRet);
            break;
        }
        else
        {
            printf("Open Device succeed!\r\n");
        }

        // ch:设置触发模式为off | eb:Set trigger mode as off
        nRet = MV_CODEREADER_SetEnumValue(handle, "TriggerMode", MV_CODEREADER_TRIGGER_MODE_OFF);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Set Trigger Mode fail! nRet [%#x]\r\n", nRet);
            break;
        }
        else
        {
            printf("Set Trigger Mode succeed!\r\n");
        }

        // ch:开始取流 | en:Start grab image
        nRet = MV_CODEREADER_StartGrabbing(handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Start Grabbing fail! nRet [%#x]\r\n", nRet);
            break;
        }
        else
        {
            printf("Start Grabbing succeed!\r\n");
        }

        pthread_t nThreadID;
		nRet = pthread_create(&nThreadID, NULL, GrabImageThread, handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Thread create failed! nRet [%d]\r\n", nRet);
            break;
        }

        PressEnterToExit();
		
		nRet = pthread_join(nThreadID, NULL);
		if (MV_CODEREADER_OK != nRet)
        {
            printf("Thread free failed! nRet = [%d]\r\n", nRet);
			bIsNormalRun = false;
            break;
        }

        // ch:停止取流 | en:Stop grab image
        nRet = MV_CODEREADER_StopGrabbing(handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("Stop Grabbing fail! nRet [%#x]\r\n", nRet);
			bIsNormalRun = false;
            break;
        }
        else
        {
            printf("Stop Grabbing succeed!\r\n");
        }

        // ch:关闭设备 | en:close device
        nRet = MV_CODEREADER_CloseDevice(handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("MV_CODEREADER_CloseDevice fail! nRet [%#x]\r\n", nRet);
			bIsNormalRun = false;
            break;
        }
        else
        {
            printf("MV_CODEREADER_CloseDevice succeed!\r\n");
        }

        // ch:销毁句柄 | en:Destroy handle
        nRet = MV_CODEREADER_DestroyHandle(handle);
        if (MV_CODEREADER_OK != nRet)
        {
            printf("MV_CODEREADER_DestroyHandle fail! nRet [%#x]\r\n", nRet);
			bIsNormalRun = false;
            break;
        }
        else
        {
			handle = NULL;
            printf("MV_CODEREADER_DestroyHandle succeed!\r\n");
        }

    } while (0);

    if (handle != NULL)
    {
        // ch:关闭设备 | en:Close device
        // ch:销毁句柄 | en:Destroy handle
        MV_CODEREADER_CloseDevice(handle);
        MV_CODEREADER_DestroyHandle(handle);
        handle = NULL;
    }

	if (bIsNormalRun)
	{
		printf("Exit!\r\n");		
	}

	if (false == bIsNormalRun)
	{
		PressEnterToExit();
		printf("Exit!\r\n");
	}
	
    return 0;

}

输出的结果