Python对接海康威视机器视觉工业相机

一、下载MVS客户端

海康机器人-机器视觉-下载中心

二、解压并安装MVS客户端

三、找到MVS示例代码（代码在MVS的安装位置）

工业相机只允许单条连接，也就是说MVS如果连接了相机，python代码就无法获取数据，此时必须退出MVS客户端。

四、使用Pycharm打开Python代码示例文件夹

如果觉得爆红难受，将MvImport文件夹中的五个文件，拷贝到BasicDemo文件夹下即可。

博主这里出现了一个警告：获取不到相机参数。忽略掉即可。

五、获取相机图像

安装一下opencv

pip3 install opencv-python -i https://pypi.tuna.tsinghua.edu.cn/simple

相机工具类（读者直接复制）HKCamera_class.py

import sys
from ctypes import *
import numpy as np
import cv2


# 这里要根据个人情况进行修改 TODO
sys.path.append("E:\MVS_STD_4.2.1_230921\MVS\Development\Samples\Python\MvImport")  # 打开MVS中的MvImport文件,对于不同系统打开的文件路径跟随实际文件路径变化即可
from MvCameraControl_class import *  # 调用了MvCameraControl_class.py文件

class HKCamera():
    def __init__(self, CameraIdx=0, log_path=None, CameraIp=""):
        self.name = "HKCamera"
        deviceList = self.enum_devices()
        strModeName = ""
        TargetCamera = None
        for i in range(0, deviceList.nDeviceNum):
            mvcc_dev_info = cast(deviceList.pDeviceInfo[i], POINTER(MV_CC_DEVICE_INFO)).contents
            nip1 = ((mvcc_dev_info.SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24)
            nip2 = ((mvcc_dev_info.SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16)
            nip3 = ((mvcc_dev_info.SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8)
            nip4 = (mvcc_dev_info.SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff)
            Devip = "%d.%d.%d.%d" % (nip1, nip2, nip3, nip4)
            if Devip == CameraIp:
                TargetCamera = i
        self.camera = self.open_camera(deviceList=deviceList, CameraIdx=TargetCamera, log_path=log_path)
        # self.start_camera()

    def __del__(self):
        if self.camera is None:
            return

        # 停止取流
        # ret = self.camera.MV_CC_StopGrabbing()
        # if ret != 0:
        #     raise Exception("stop grabbing fail! ret[0x%x]" % ret)

        # 关闭设备
        ret = self.camera.MV_CC_CloseDevice()
        if ret != 0:
            raise Exception("close deivce fail! ret[0x%x]" % ret)

        # 销毁句柄
        ret = self.camera.MV_CC_DestroyHandle()
        if ret != 0:
            raise Exception("destroy handle fail! ret[0x%x]" % ret)

    @staticmethod
    def enum_devices(device=0, device_way=False):
        """
        device = 0  枚举网口、USB口、未知设备、cameralink 设备
        device = 1 枚举GenTL设备
        """
        if device_way == False:
            if device == 0:
                cameraType = MV_GIGE_DEVICE | MV_USB_DEVICE | MV_UNKNOW_DEVICE | MV_1394_DEVICE | MV_CAMERALINK_DEVICE
                deviceList = MV_CC_DEVICE_INFO_LIST()
                # 枚举设备
                ret = MvCamera.MV_CC_EnumDevices(cameraType, deviceList)
                if ret != 0:
                    raise Exception("enum devices fail! ret[0x%x]" % ret)
                return deviceList
            else:
                pass
        elif device_way == True:
            pass

    def open_camera(self, deviceList, CameraIdx, log_path):
        # generate a camera instance
        camera = MvCamera()

        # 选择设备并创建句柄
        stDeviceList = cast(deviceList.pDeviceInfo[CameraIdx], POINTER(MV_CC_DEVICE_INFO)).contents
        if log_path is not None:
            ret = self.camera.MV_CC_SetSDKLogPath(log_path)
            if ret != 0:
                raise Exception("set Log path  fail! ret[0x%x]" % ret)

            # 创建句柄,生成日志
            ret = camera.MV_CC_CreateHandle(stDeviceList)
            if ret != 0:
                raise Exception("create handle fail! ret[0x%x]" % ret)
        else:
            # 创建句柄,不生成日志
            ret = camera.MV_CC_CreateHandleWithoutLog(stDeviceList)
            if ret != 0:
                raise Exception("create handle fail! ret[0x%x]" % ret)

        # 打开相机
        ret = camera.MV_CC_OpenDevice(MV_ACCESS_Exclusive, 0)
        if ret != 0:
            raise Exception("open device fail! ret[0x%x]" % ret)

        return camera

    def start_camera(self):
        stParam = MVCC_INTVALUE()
        memset(byref(stParam), 0, sizeof(MVCC_INTVALUE))

        ret = self.camera.MV_CC_GetIntValue("PayloadSize", stParam)
        if ret != 0:
            raise Exception("get payload size fail! ret[0x%x]" % ret)

        self.nDataSize = stParam.nCurValue
        self.pData = (c_ubyte * self.nDataSize)()
        self.stFrameInfo = MV_FRAME_OUT_INFO_EX()
        memset(byref(self.stFrameInfo), 0, sizeof(self.stFrameInfo))

        self.camera.MV_CC_StartGrabbing()

    def get_Value(self, param_type, node_name):
        """
        :param cam:            相机实例
        :param_type:           获取节点值得类型
        :param node_name:      节点名 可选 int 、float 、enum 、bool 、string 型节点
        :return:               节点值
        """
        if param_type == "int_value":
            stParam = MVCC_INTVALUE_EX()
            memset(byref(stParam), 0, sizeof(MVCC_INTVALUE_EX))
            ret = self.camera.MV_CC_GetIntValueEx(node_name, stParam)
            if ret != 0:
                raise Exception("获取 int 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
            return stParam.nCurValue

        elif param_type == "float_value":
            stFloatValue = MVCC_FLOATVALUE()
            memset(byref(stFloatValue), 0, sizeof(MVCC_FLOATVALUE))
            ret = self.camera.MV_CC_GetFloatValue(node_name, stFloatValue)
            if ret != 0:
                raise Exception("获取 float 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
            return stFloatValue.fCurValue

        elif param_type == "enum_value":
            stEnumValue = MVCC_ENUMVALUE()
            memset(byref(stEnumValue), 0, sizeof(MVCC_ENUMVALUE))
            ret = self.camera.MV_CC_GetEnumValue(node_name, stEnumValue)
            if ret != 0:
                raise Exception("获取 enum 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
            return stEnumValue.nCurValue

        elif param_type == "bool_value":
            stBool = c_bool(False)
            ret = self.camera.MV_CC_GetBoolValue(node_name, stBool)
            if ret != 0:
                raise Exception("获取 bool 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
            return stBool.value

        elif param_type == "string_value":
            stStringValue = MVCC_STRINGVALUE()
            memset(byref(stStringValue), 0, sizeof(MVCC_STRINGVALUE))
            ret = self.camera.MV_CC_GetStringValue(node_name, stStringValue)
            if ret != 0:
                raise Exception("获取 string 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
            return stStringValue.chCurValue

        else:
            return None

    def set_Value(self, param_type, node_name, node_value):
        """
        :param cam:               相机实例
        :param param_type:        需要设置的节点值得类型
            int:
            float:
            enum:     参考于客户端中该选项的 Enum Entry Value 值即可
            bool:     对应 0 为关，1 为开
            string:   输入值为数字或者英文字符，不能为汉字
        :param node_name:         需要设置的节点名
        :param node_value:        设置给节点的值
        :return:
        """
        if param_type == "int_value":
            ret = self.camera.MV_CC_SetIntValueEx(node_name, int(node_value))
            if ret != 0:
                raise Exception("设置 int 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))

        elif param_type == "float_value":
            ret = self.camera.MV_CC_SetFloatValue(node_name, float(node_value))
            if ret != 0:
                raise Exception("设置 float 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))

        elif param_type == "enum_value":
            ret = self.camera.MV_CC_SetEnumValueByString(node_name, node_value)
            if ret != 0:
                raise Exception("设置 enum 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))

        elif param_type == "bool_value":
            ret = self.camera.MV_CC_SetBoolValue(node_name, node_value)
            if ret != 0:
                raise Exception("设置 bool 型数据节点 %s 失败 ！ 报错码 ret[0x%x]" % (node_name, ret))

        elif param_type == "string_value":
            ret = self.camera.MV_CC_SetStringValue(node_name, str(node_value))
            if ret != 0:
                raise Exception("设置 string 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))

    def set_exposure_time(self, exp_time):
        self.set_Value(param_type="float_value", node_name="ExposureTime", node_value=exp_time)

    def get_exposure_time(self):
        return self.get_Value(param_type="float_value", node_name="ExposureTime")

    def get_image(self, width=None):
        """
        :param cam:     相机实例
        :active_way:主动取流方式的不同方法 分别是（getImagebuffer）（getoneframetimeout）
        :return:
        """
        # ret= self.camera.MV_CC_SaveImageEx2()
        ret = self.camera.MV_CC_GetOneFrameTimeout(self.pData, self.nDataSize, self.stFrameInfo, 5000)
        if ret == 0:
            image = np.asarray(self.pData).reshape((self.stFrameInfo.nHeight, self.stFrameInfo.nWidth, 3))
            #    if width is not None:
            #    image = cv2.resize(image, (width, int(self.stFrameInfo.nHeight * width / self.stFrameInfo.nWidth)))
            #    pass
            image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
            return image
        else:
            return None

    def show_runtime_info(self, image):
        exp_time = self.get_exposure_time()
        cv2.putText(image, ("exposure time = %1.1fms" % (exp_time * 0.001)), (20, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
                    255, 1)

获取照片数据

Main.py

import os
import cv2
from numpy import ndarray

from HKCamera_class import HKCamera

if __name__ == '__main__':
    camera = HKCamera(CameraIp='192.168.1.191')
    # 对摄像头配置进行设置
    try:
        camera.set_Value(param_type="enum_value", node_name="PixelFormat",
                         node_value='RGB8Packed')
        camera.set_Value(param_type="enum_value", node_name="ExposureAuto",
                         node_value='Off')
        camera.set_Value(param_type="float_value", node_name="ExposureTime",
                         node_value='400')
    except Exception as e:
        print(e)
        os._exit(0)
    camera.start_camera()


    while True:
        try:
            image: ndarray = camera.get_image()
            if image is not None:
                # 这里拿到图片的ndarray数据后，可以转Image、可以保存图片....等等操作
                print(image.shape)
            key = cv2.waitKey(50) & 0xFF
            if key == ord('e') or key == ord('E'):
                cv2.destroyAllWindows()
                break
        except Exception as e:
            print(e)