ubuntu20.04下开发海康威视网络摄像头sdk（二）云台基本控制（位姿控制）

编译运行参考：ubuntu20.04下开发海康威视网络摄像头sdk（一）运行示例程序
然后是控制摄像头转动：
初始化和左转
我直接在这个截图的函数中修改的：
参考博客：https://blog.csdn.net/MKraul/article/details/106315701
我改的代码 CapPicture.cpp

/*
* Copyright(C) 2010,Hikvision Digital Technology Co., Ltd 
* 
* File   name  CapPicture.cpp
* Discription  
* Version      1.0
* Author       panyd
* Create Date  2010_3_25
* Modification History  
*/

#include <stdio.h>
#include <iostream>
#include "CapPicture.h"
#include "public.h"
#include <string.h>
#include <unistd.h>
#include <vector>
using namespace std;

//相机的角度参数是十六进制,需要和十进制来回切换
int  HexToDecMa(int wHex)//十六进制转十进制
{
    return (wHex / 4096) * 1000 + ((wHex % 4096) / 256) * 100 + ((wHex % 256) / 16) * 10 + (wHex % 16);
}

int DEC2HEX_doc(int x)//十进制转十六进制
{
    return (x / 1000) * 4096 + ((x % 1000) / 100) * 256 + ((x % 100) / 10) * 16 + x % 10;
}


int Demo_Capture()
{
    NET_DVR_Init();  //初始化SDK
    long lUserID;
    //login
    NET_DVR_USER_LOGIN_INFO struLoginInfo = {0};
    NET_DVR_DEVICEINFO_V40 struDeviceInfoV40 = {0};//用户注册设备
    struLoginInfo.bUseAsynLogin = false; //bUseAsynLogin为0时登录为同步模式  为1时为异步登陆

    struLoginInfo.wPort = 8000;
    memcpy(struLoginInfo.sDeviceAddress, "10.102.23.130", NET_DVR_DEV_ADDRESS_MAX_LEN);
    memcpy(struLoginInfo.sUserName, "admin", NAME_LEN);
    memcpy(struLoginInfo.sPassword, "xxxxxx", NAME_LEN);
    //NET_DVR_Login_V40 该接口返回-1表示登录失败，其他值表示返回的用户ID值。用户ID具有唯一性，后续对设备的操作都需要通过此ID实现
    lUserID = NET_DVR_Login_V40(&struLoginInfo, &struDeviceInfoV40);

    if (lUserID < 0) //登陆失败
    {
        printf("pyd1---Login error, %d\n", NET_DVR_GetLastError());
        return HPR_ERROR;
    }

    //截图功能
    // NET_DVR_JPEGPARA strPicPara = {0};
    // strPicPara.wPicQuality = 2;
    // strPicPara.wPicSize = 0;
    // int iRet;
    // iRet = NET_DVR_CaptureJPEGPicture(lUserID, struDeviceInfoV40.struDeviceV30.byStartChan, &strPicPara, "./ssss.jpeg");
    // if (!iRet)
    // {
    //     printf("pyd1---NET_DVR_CaptureJPEGPicture error, %d\n", NET_DVR_GetLastError());
    //     return HPR_ERROR;
    // }
    //截图完成

    
    //读取相机信息
    NET_DVR_PTZPOS m_ptzPosCurrent;
    DWORD dwtmp;
    //获取位姿信息
    bool a = NET_DVR_GetDVRConfig(lUserID, NET_DVR_GET_PTZPOS, 0, &m_ptzPosCurrent, sizeof(NET_DVR_PTZPOS), &dwtmp);
    //wPanPos P参数（水平参数） 
    //wTiltPos T参数（垂直参数） 
    //wZoomPos Z参数（变焦参数）
    //HexToDecMa 十六进制转换十进制
    int m_iPara1 = HexToDecMa(m_ptzPosCurrent.wPanPos);
    int m_iPara2 = HexToDecMa(m_ptzPosCurrent.wTiltPos);
    int m_iPara3 = HexToDecMa(m_ptzPosCurrent.wZoomPos);
    vector<int> TempPosture(3);//三个参数代表含义如下cout所示
    //NET_DVR_PTZPOS 里面获取的参数是实际显示值的10倍 所以要除以10 具体参考开发手册里面的解释
    TempPosture[0] = m_iPara1 / 10 ;
    TempPosture[1] = m_iPara2 / 10 ;
    TempPosture[2] = m_iPara3 / 10 ;

    cout << "##################当前参数#####################"<< endl;
    cout << "P水平方向 " << TempPosture[0]  <<   "             ##" << endl;
    cout << "T仰角    " << TempPosture[1]  <<   "             ##" << endl;
    cout << "Z焦距    " << TempPosture[2]  <<   "             ##" << endl;
    cout << "###############################################"<< endl;
    
    
    //开始控制摄像头转动
    printf("下面控制摄像头转动！\n");
    
    // //初始化操作   水平角度为0度 仰角45度
    // //定义要初始化的参数
    // vector<int> TargetPosture(3);
    // TargetPosture[0]=(0);
    // TargetPosture[1]=(45);
    // TargetPosture[2]=(1);
    // //将参数转化为十六进制   记得再乘以10
    // m_ptzPosCurrent.wPanPos = DEC2HEX_doc(TargetPosture[0]*10);
    // m_ptzPosCurrent.wTiltPos = DEC2HEX_doc(TargetPosture[1]*10);
    // m_ptzPosCurrent.wZoomPos = DEC2HEX_doc(TargetPosture[2]*10);
    // // 开始转动
    // bool b=NET_DVR_SetDVRConfig(lUserID, NET_DVR_SET_PTZPOS, 0, &m_ptzPosCurrent, sizeof(NET_DVR_PTZPOS));
    // sleep(6);

    // TempPosture[0] = TargetPosture[0];
    // TempPosture[1] = TargetPosture[1];
    // TempPosture[2] = TargetPosture[2];
    // cout << "##################初始化后参数#####################"<< endl;
    // cout << "P水平方向 " << TempPosture[0]  <<   "             ##" << endl;
    // cout << "T仰角    " << TempPosture[1]  <<   "             ##" << endl;
    // cout << "Z焦距    " << TempPosture[2]  <<   "             ##" << endl;
    // cout << "###############################################"<< endl;
    

    //下面是使相机在本来的基础上左转
    //设置想要变化的参数值
    vector<int> Changevalue(3);
    Changevalue[0]=(45);//degree水平加30度
    Changevalue[1]=(0);//degree俯仰加0度
    Changevalue[2]= (0);//焦距加0
    
    
    //将变化值更新
    vector<int> TargetPosture(3);
    TargetPosture[0]=TempPosture[0]+Changevalue[0];
    TargetPosture[1]=TempPosture[1]+Changevalue[1];
    TargetPosture[2]=TempPosture[2]+Changevalue[2];
    //将变化后的参数转化为相机自带的十六进制   记得再乘以10
    m_ptzPosCurrent.wPanPos = DEC2HEX_doc(TargetPosture[0]*10);
    m_ptzPosCurrent.wTiltPos = DEC2HEX_doc(TargetPosture[1]*10);
    m_ptzPosCurrent.wZoomPos = DEC2HEX_doc(TargetPosture[2]*10);
    
    //将参数传入函数,相机开始调整位置
    bool c=NET_DVR_SetDVRConfig(lUserID, NET_DVR_SET_PTZPOS, 0, &m_ptzPosCurrent, sizeof(NET_DVR_PTZPOS));
    sleep(4);

    //更新此时的位置参数  打印出来展示
    TempPosture[0] = TargetPosture[0];
    TempPosture[1] = TargetPosture[1];
    TempPosture[2] = TargetPosture[2];
    

    printf("摄像头转动完成！");
    cout << "####################调整之后#######################"<< endl;
    cout << "P水平方向 " << TempPosture[0]  <<   "                 #" << endl;
    cout << "T仰角    " << TempPosture[1]  <<   "                 #" << endl;
    cout << "Z焦距    " << TempPosture[2]  <<   "                 #" << endl;
    cout << "###############################################"<< endl;

    //logout
    NET_DVR_Logout_V30(lUserID);//注销设备
    NET_DVR_Cleanup();//释放SDK资源

    return HPR_OK;

}