基本思想:vs开发环境下通过opencv调用海康威视工业相机SDK,做图像采集。
1、配置VS环境
2、修改的地方:
一开始官方例程中会报错"const char"类型的实参与"LPCWSTR"类型的形参不兼容和不能将"const char"类型的值分配到"LPCWSTR"类型的实体,解决办法如下:
项目——项目属性——常规——项目默认值——字符集,把字符集设为未设置,确定。
VS2022: 项目——项目属性——高级——字符集,把字符集设为未设置,确定。
3、编码
#include <stdio.h>
#include <process.h>
#include <conio.h>
#include "windows.h"
#include "MvCameraControl.h"
HWND g_hwnd = NULL;
bool g_bExit = false;
unsigned int g_nPayloadSize = 0;
// ch:等待按键输入 | en:Wait for key press
void WaitForKeyPress(void)
{
while (!_kbhit())
{
Sleep(10);
}
_getch();
}
bool PrintDeviceInfo(MV_CC_DEVICE_INFO* pstMVDevInfo)
{
if (NULL == pstMVDevInfo)
{
printf("The Pointer of pstMVDevInfo is NULL!\n");
return false;
}
if (pstMVDevInfo->nTLayerType == MV_GIGE_DEVICE)
{
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\n", nIp1, nIp2, nIp3, nIp4);
printf("UserDefinedName: %s\n\n", pstMVDevInfo->SpecialInfo.stGigEInfo.chUserDefinedName);
}
else if (pstMVDevInfo->nTLayerType == MV_USB_DEVICE)
{
printf("UserDefinedName: %s\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chUserDefinedName);
printf("Serial Number: %s\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chSerialNumber);
printf("Device Number: %d\n\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.nDeviceNumber);
}
else
{
printf("Not support.\n");
}
return true;
}
LRESULT CALLBACK WndProc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam)
{
switch (msg)
{
case WM_DESTROY:
PostQuitMessage(0);
g_hwnd = NULL;
break;
}
return DefWindowProc(hWnd, msg, wParam, lParam);
}
static unsigned int __stdcall CreateRenderWindow(void* pUser)
{
HINSTANCE hInstance = ::GetModuleHandle(NULL); //获取应用程序的模块句柄
WNDCLASSEX wc;
wc.cbSize = sizeof(wc);
wc.style = CS_HREDRAW | CS_VREDRAW; //窗口的风格
wc.cbClsExtra = 0;
wc.cbWndExtra = 0;
wc.hInstance = hInstance;
wc.hIcon = ::LoadIcon(NULL, IDI_APPLICATION); //图标风格
wc.hIconSm = ::LoadIcon(NULL, IDI_APPLICATION);
wc.hbrBackground = (HBRUSH)(COLOR_WINDOW + 1); //背景色
wc.hCursor = ::LoadCursor(NULL, IDC_ARROW); //鼠标风格
wc.lpfnWndProc = WndProc; //自定义消息处理函数
wc.lpszMenuName = NULL;
wc.lpszClassName = "RenderWindow"; //该窗口类的名称
if (!RegisterClassEx(&wc))
{
return 0;
}
DWORD style = WS_OVERLAPPEDWINDOW;
DWORD styleEx = WS_EX_APPWINDOW | WS_EX_WINDOWEDGE;
RECT rect = { 0, 0, 640, 480 };
AdjustWindowRectEx(&rect, style, false, styleEx);
HWND hWnd = CreateWindowEx(styleEx, "RenderWindow", "Display", style, 0, 0,
rect.right - rect.left, rect.bottom - rect.top, NULL, NULL, hInstance, NULL);
if (hWnd == NULL)
{
return 0;
}
::UpdateWindow(hWnd);
::ShowWindow(hWnd, SW_SHOW);
g_hwnd = hWnd;
MSG msg = { 0 };
while (msg.message != WM_QUIT)
{
if (PeekMessage(&msg, 0, 0, 0, PM_REMOVE))
{
TranslateMessage(&msg);
DispatchMessage(&msg);
}
}
return 0;
}
static unsigned int __stdcall WorkThread(void* pUser)
{
int nRet = MV_OK;
MV_FRAME_OUT_INFO_EX stImageInfo = { 0 };
MV_DISPLAY_FRAME_INFO stDisplayInfo = { 0 };
unsigned char* pData = (unsigned char*)malloc(sizeof(unsigned char) * (g_nPayloadSize));
if (pData == NULL)
{
return 0;
}
unsigned int nDataSize = g_nPayloadSize;
while (1)
{
nRet = MV_CC_GetOneFrameTimeout(pUser, pData, nDataSize, &stImageInfo, 1000);
if (nRet == MV_OK)
{
printf("Get One Frame: Width[%d], Height[%d], nFrameNum[%d]\n",
stImageInfo.nWidth, stImageInfo.nHeight, stImageInfo.nFrameNum);
if (g_hwnd)
{
stDisplayInfo.hWnd = g_hwnd;
stDisplayInfo.pData = pData;
stDisplayInfo.nDataLen = stImageInfo.nFrameLen;
stDisplayInfo.nWidth = stImageInfo.nWidth;
stDisplayInfo.nHeight = stImageInfo.nHeight;
stDisplayInfo.enPixelType = stImageInfo.enPixelType;
MV_CC_DisplayOneFrame(pUser, &stDisplayInfo);
}
}
else
{
printf("No data[0x%x]\n", nRet);
}
if (g_bExit)
{
break;
}
}
free(pData);
return 0;
}
int main()
{
int nRet = MV_OK;
void* handle = NULL;
do
{
// ch:枚举设备 | en:Enum device
MV_CC_DEVICE_INFO_LIST stDeviceList = { 0 };
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;
}
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 (NULL == pDeviceInfo)
{
break;
}
PrintDeviceInfo(pDeviceInfo);
}
}
else
{
printf("Find No Devices!\n");
break;
}
printf("Please Input camera index:");
unsigned int nIndex = 0;
scanf_s("%d", &nIndex);
if (nIndex >= stDeviceList.nDeviceNum)
{
printf("Input error!\n");
break;
}
// ch:选择设备并创建句柄 | en:Select device and create handle
nRet = MV_CC_CreateHandle(&handle, stDeviceList.pDeviceInfo[nIndex]);
if (MV_OK != nRet)
{
printf("Create Handle fail! nRet [0x%x]\n", nRet);
break;
}
// ch:打开设备 | en:Open device
nRet = MV_CC_OpenDevice(handle);
if (MV_OK != nRet)
{
printf("Open Device fail! nRet [0x%x]\n", nRet);
break;
}
// ch:探测网络最佳包大小(只对GigE相机有效) | en:Detection network optimal package size(It only works for the GigE camera)
if (stDeviceList.pDeviceInfo[nIndex]->nTLayerType == MV_GIGE_DEVICE)
{
int nPacketSize = MV_CC_GetOptimalPacketSize(handle);
if (nPacketSize > 0)
{
nRet = MV_CC_SetIntValue(handle, "GevSCPSPacketSize", nPacketSize);
if (nRet != MV_OK)
{
printf("Warning: Set Packet Size fail nRet [0x%x]!", nRet);
}
}
else
{
printf("Warning: Get Packet Size fail nRet [0x%x]!", nPacketSize);
}
}
// ch:设置触发模式为off | 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;
}
// ch:获取数据包大小 | en:Get payload size
MVCC_INTVALUE stParam = { 0 };
nRet = MV_CC_GetIntValue(handle, "PayloadSize", &stParam);
if (MV_OK != nRet)
{
printf("Get PayloadSize fail! nRet [0x%x]\n", nRet);
break;
}
g_nPayloadSize = stParam.nCurValue;
unsigned int nThreadID = 0;
void* hCreateWindow = (void*)_beginthreadex(NULL, 0, CreateRenderWindow, handle, 0, &nThreadID);
if (NULL == hCreateWindow)
{
break;
}
// ch:开始取流 | en:Start grab image
nRet = MV_CC_StartGrabbing(handle);
if (MV_OK != nRet)
{
printf("Start Grabbing fail! nRet [0x%x]\n", nRet);
break;
}
nThreadID = 0;
void* hThreadHandle = (void*)_beginthreadex(NULL, 0, WorkThread, handle, 0, &nThreadID);
if (NULL == hThreadHandle)
{
break;
}
printf("Press a key to stop grabbing.\n");
WaitForKeyPress();
g_bExit = true;
WaitForSingleObject(hThreadHandle, INFINITE);
CloseHandle(hThreadHandle);
// ch:停止取流 | en:Stop grab image
nRet = MV_CC_StopGrabbing(handle);
if (MV_OK != nRet)
{
printf("Stop Grabbing fail! nRet [0x%x]\n", nRet);
break;
}
// ch:关闭设备 | Close device
nRet = MV_CC_CloseDevice(handle);
if (MV_OK != nRet)
{
printf("ClosDevice fail! nRet [0x%x]\n", nRet);
break;
}
// ch:销毁句柄 | Destroy handle
nRet = MV_CC_DestroyHandle(handle);
if (MV_OK != nRet)
{
printf("Destroy Handle fail! nRet [0x%x]\n", nRet);
break;
}
} while (0);
if (nRet != MV_OK)
{
if (handle != NULL)
{
MV_CC_DestroyHandle(handle);
handle = NULL;
}
}
printf("Press a key to exit.\n");
WaitForKeyPress();
return 0;
}
————————————————分割线————————————————————
以上代码适用于windows系统,再加一个ubuntu系统。
MVS在ubuntu安装完毕,默认是在/opt/MVS/bin目录下,这里笔者将该目录下include头文件和lib动态库复制到项目下。
CMakeLists.txt
cmake_minimum_required(VERSION 3.16)
project(test_cam)
set(CMAKE_CXX_STANDARD 14)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# 添加头文件路径
include_directories(${CMAKE_SOURCE_DIR})
include_directories(${CMAKE_SOURCE_DIR}/include)
add_executable(test_cam main.cpp)
add_library(libmvs SHARED IMPORTED)
set_target_properties(libmvs PROPERTIES IMPORTED_LOCATION ${CMAKE_SOURCE_DIR}/lib/libMvCameraControl.so)
target_link_libraries(test_cam ${OpenCV_LIBS} libmvs)
#include <stdio.h>
#include <conio.h>
#include <iostream>
#include <string>
#include "MvCameraControl.h"
#include "opencv2/opencv.hpp"
bool printDeviceInfo(MV_CC_DEVICE_INFO* hk_device);
bool hk2cv(MV_FRAME_OUT_INFO_EX* hk_imginfo, unsigned char* data, cv::Mat& src_img);
using namespace std;
int main(int argv, char** argc) {
//1.获取SDK版本信息
unsigned int sdk_V = MV_CC_GetSDKVersion();
printf("SDK version is [0x%x]\n", sdk_V);
//2.查找目标设备
int ret = MV_OK;
void* handle = NULL;
MV_CC_DEVICE_INFO_LIST hk_devices;
memset(&hk_devices, 0, sizeof(MV_CC_DEVICE_INFO_LIST));
ret = MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, &hk_devices);
if (ret != MV_OK) {
std::cout << "enum devices faild!" << std::endl;
return -1;
}
std::cout << "共检测到相机的个数为:" << hk_devices.nDeviceNum << std::endl;
//3.判断设备是否可访问
if (hk_devices.nDeviceNum > 0)
{
for (unsigned int i = 0; i < hk_devices.nDeviceNum; i++)
{
printf("[device %d]:\n", i);
MV_CC_DEVICE_INFO* pDeviceInfo = hk_devices.pDeviceInfo[i];
bool access = MV_CC_IsDeviceAccessible(pDeviceInfo, 1);
if (!access) {
printf("[device %d]:could not access... nRet:[0x%x]\n", i, ret);
}
else {
printf("[device %d]:is OK... nRet:[0x%x]\n", i, ret);
}
}
}
else
{
printf("Find No Devices!\n");
return -1;
}
if (hk_devices.nDeviceNum > 0) {
MV_CC_DEVICE_INFO* hk_camera = hk_devices.pDeviceInfo[0];
if (printDeviceInfo(hk_camera) == false) {
return -1;
}
}
else {
std::cout << "no device found" << std::endl;
return -1;
}
//4.创建相机句柄
ret = MV_CC_CreateHandle(&handle, hk_devices.pDeviceInfo[0]);
if (ret != MV_OK) {
return -1;
}
//5.打开设备
ret = MV_CC_OpenDevice(handle);
if (ret != MV_OK) {
cout << "设备未打开" << endl;
return -1;
}
else {
std::cout << "设备已经打开" << std::endl;
}
//6.设置触发模式为off
ret = MV_CC_SetEnumValue(handle, "TriggerMode", 0);
if (ret != MV_OK) {
return -1;
}
//7.获取数据包的大小
MVCC_INTVALUE hk_param;
memset(&hk_param, 0, sizeof(MVCC_INTVALUE));
ret = MV_CC_GetIntValue(handle, "PayloadSize", &hk_param);
if (ret != MV_OK) {
return -1;
}
unsigned int payload_size = hk_param.nCurValue;
// load config
//ret = MV_CC_FeatureLoad(handle, "FeatureFile.ini");
//if (ret != MV_OK) {
// cout << "loading config file faild" << endl;
// return -1;
//}
// save config
//ret = MV_CC_FeatureSave(handle, "FeatureFile.ini");
//if (ret != MV_OK) {
// return -1;
//}
//8.开始截流
ret = MV_CC_StartGrabbing(handle);
if (ret != MV_OK) {
cout << "grab image failed!" << endl;
return -1;
}
MV_FRAME_OUT_INFO_EX hk_imginfo;
memset(&hk_imginfo, 0, sizeof(MV_FRAME_OUT_INFO_EX));
unsigned char* data = (unsigned char*)malloc(sizeof(unsigned char) * (payload_size));
if (data == NULL) {
return -1;
}
cv::Mat src_img;
// windows
// while (!(_kbhit() && _getch() == 0x1b)) {
// ubuntu
while (true) {
ret = MV_CC_GetOneFrameTimeout(handle, data, payload_size, &hk_imginfo, 1000);
if (ret != MV_OK) {
free(data);
data = NULL;
return -1;
}
if (hk2cv(&hk_imginfo, data, src_img) == false) {
continue;
}
cv::imshow("test", src_img);
cv::waitKey(30);
}
//9.停止截流
ret = MV_CC_StopGrabbing(handle);
if (ret != MV_OK) {
return -1;
}
//10.关闭设备
ret = MV_CC_CloseDevice(handle);
if (ret != MV_OK) {
return -1;
}
//11.销毁相机句柄
ret = MV_CC_DestroyHandle(handle);
if (ret != MV_OK) {
return -1;
}
system("pause");
return 0;
}
bool printDeviceInfo(MV_CC_DEVICE_INFO* hk_device) {
if (NULL == hk_device)
{
printf("The Pointer of hk_device is NULL!\n");
return false;
}
if (hk_device->nTLayerType == MV_GIGE_DEVICE)
{
int nIp1 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24);
int nIp2 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16);
int nIp3 = ((hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8);
int nIp4 = (hk_device->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);
// print current ip and user defined name
printf("CurrentIp: %d.%d.%d.%d\n", nIp1, nIp2, nIp3, nIp4);
printf("UserDefinedName: %s\n\n", hk_device->SpecialInfo.stGigEInfo.chUserDefinedName);
}
else if (hk_device->nTLayerType == MV_USB_DEVICE)
{
printf("UserDefinedName: %s\n", hk_device->SpecialInfo.stUsb3VInfo.chUserDefinedName);
printf("Serial Number: %s\n", hk_device->SpecialInfo.stUsb3VInfo.chSerialNumber);
printf("Device Number: %d\n\n", hk_device->SpecialInfo.stUsb3VInfo.nDeviceNumber);
}
else
{
printf("Not support.\n");
}
return true;
}
bool hk2cv(MV_FRAME_OUT_INFO_EX* hk_imginfo, unsigned char* data, cv::Mat& src_img) {
cv::Mat cv_img;
if (hk_imginfo->enPixelType == PixelType_Gvsp_Mono8) {
cv_img = cv::Mat(hk_imginfo->nHeight, hk_imginfo->nWidth, CV_8UC1, data);
}
else if (hk_imginfo->enPixelType == PixelType_Gvsp_RGB8_Packed) {
for (unsigned int j = 0; j < hk_imginfo->nHeight; j++) {
for (unsigned int i = 0; i < hk_imginfo->nWidth; i++) {
unsigned char red = data[j * (hk_imginfo->nWidth * 3) + i * 3];
data[j * (hk_imginfo->nWidth * 3) + i * 3] = data[j * (hk_imginfo->nWidth * 3) + i * 3 + 2];
data[j * (hk_imginfo->nWidth * 3) + i * 3 + 2] = red;
}
}
cv_img = cv::Mat(hk_imginfo->nHeight, hk_imginfo->nWidth, CV_8UC3, data);
}
else {
printf("unsupported pixel format\n");
return false;
}
if (cv_img.data == NULL) {
return false;
}
cv_img.copyTo(src_img);
return true;
}
修改的地方:
如果出现以下不支持的像素报错,需要在MVS中查看一下相机的像素格式,在代码中对应位置修改一下即可。
测试结果
参考文章: