海康威视工业相机SDK二次开发（VS+Opencv+QT+海康SDK+C++）（一）

最近在做一个项目，涉及到工业相机，需要对其进行二次开发。相机方面选择了海康威视，网上关于海康威视工业相机SDK的开发资料很少，官方文档里面虽然写的是支持C++开发的，但其实是C。自己也摸索了一段时间，请教大佬，终于有了些收获，记录下来，方面以后查阅。

1.说明

1.1软硬件相关配置

1.1.1硬件选择

1.1.2软件选择

VS2019+Opencv4.4+QT5.13.2+海康威视SDKMVS_SDK_V3_2_0
①VS工程配置Opencv（参考如下博客）
Opencv4.4文件：
链接：https://pan.baidu.com/s/1EpOfbkrzkpLyX14w7vINUw
提取码：7qxl
【opencv4.3.0教程】01之opencv介绍与配置
https://blog.csdn.net/shuiyixin/article/details/

1.2关于安防相机与工业相机

2.相关资料与官方文档

2.1官方文档

2.2网上相关的资料

3.海康威视工业相机SDK官方例程的修改

3.1环境配置

3.2官方例程

ConnectSpecCamera.cpp

功能：通过ip地址连接相机
该示例程序说明了如何通过ip地址连接网口相机。通过输入需要连接的相机ip（Camera Ip）和相机对应的网卡ip（Export Ip）来连接相机，输入的格式为xx.xx.xx.xx。
修改的地方：

一开始官方例程中的scanf会报错说这个函数不安全，这不是错误但在高版本VS下会认为这是个错误，解决方法有二：在项目设置中增加一行预处理定义可以自行百度。或者选择修改为scanf_s。
我选择改成scanf_s，且后面还要加个参数20，表示输入的最大字符数大小，ip地址加上三个点是15个字符，这里填个20。
参考：https://baike.baidu.com/item/scanf_s/443572?fr=aladdin
修改后的源码如下：

#include  
     #include  
     #include  
     #include  
     #include "MvCameraControl.h" 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(); } static unsigned int __stdcall WorkThread(void* pUser) { 
    int nRet = MV_OK; MV_FRAME_OUT_INFO_EX stImageInfo = { 
    0 }; memset(&stImageInfo, 0, sizeof(MV_FRAME_OUT_INFO_EX)); unsigned char* pData = (unsigned char*)malloc(sizeof(unsigned char) * (g_nPayloadSize)); 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); } else { 
    printf("No data[0x%x]\n", nRet); break; } if (g_bExit) { 
    break; } } free(pData); return 0; } int main() { 
    int nRet = MV_OK; void* handle = NULL; MV_CC_DEVICE_INFO stDevInfo = { 
    0 }; MV_GIGE_DEVICE_INFO stGigEDev = { 
    0 }; // ch:需要连接的相机ip(根据实际填充) | en:The camera IP that needs to be connected (based on actual padding) printf("Please input Current Camera Ip : "); char nCurrentIp[128]; scanf_s("%s", &nCurrentIp, 20); // ch:相机对应的网卡ip(根据实际填充) | en:The pc IP that needs to be connected (based on actual padding) printf("Please input Net Export Ip : "); char nNetExport[128]; scanf_s("%s", &nNetExport, 20); unsigned int nIp1, nIp2, nIp3, nIp4, nIp; sscanf_s(nCurrentIp, "%d.%d.%d.%d", &nIp1, &nIp2, &nIp3, &nIp4); nIp = (nIp1 << 24) | (nIp2 << 16) | (nIp3 << 8) | nIp4; stGigEDev.nCurrentIp = nIp; sscanf_s(nNetExport, "%d.%d.%d.%d", &nIp1, &nIp2, &nIp3, &nIp4); nIp = (nIp1 << 24) | (nIp2 << 16) | (nIp3 << 8) | nIp4; stGigEDev.nNetExport = nIp; stDevInfo.nTLayerType = MV_GIGE_DEVICE;// ch:仅支持GigE相机 | en:Only support GigE camera stDevInfo.SpecialInfo.stGigEInfo = stGigEDev; do { 
    // ch:选择设备并创建句柄 | en:Select device and create handle nRet = MV_CC_CreateHandle(&handle, &stDevInfo); 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 (stDevInfo.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", MV_TRIGGER_MODE_OFF); 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; 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; } g_nPayloadSize = stParam.nCurValue; // 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; } unsigned int 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; Sleep(1000); // 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 | en:Close device nRet = MV_CC_CloseDevice(handle); if (MV_OK != nRet) { 
    printf("Close Device fail! nRet [0x%x]\n", nRet); break; } // ch:销毁句柄 | en:Destroy handle nRet = MV_CC_DestroyHandle(handle); if (MV_OK != nRet) { 
    printf("Destroy Handle fail! nRet [0x%x]\n", nRet); break; } handle = NULL; } 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; } 

GrabImage_Display.cpp

功能：图像采集并显示
该示例程序演示如何取图并显示取到的每一帧图像。
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。

源码如下：

#include  
     #include  
     #include  
     #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; } 

3.3关于MVS中的资料

D:\MVS\MVS\Development\Documentations 里面有各种语言及相关的SDK开发指南，如果是C++，也看《工业相机SDK开发指南 C》，里面关于工业相机的各种操作如取流、图像采集、图像处理等等都有详细的API调用，需要什么，就去这个文档中去查阅。

D:\MVS\MVS\Development\Samples\VC\VS 里面是VS项目的开发示例，前面六个是已经写好的MFC界面程序，具体的操控看示例程序说明VS2008.pdf，SimpleSamples中的是一个个小示例，在《工业相机SDK开发指南 C》里面有讲解。