ROS：海康威视+opencv运动检测

主要功能：
通过海康威视视频服务器读取视频流,采用opencv对视频流进行处理,
采用红色的方框框出镜头中运动的物体轮廓.
一、下载对应电脑版本的海康威视SDK
海康威视官网
二、配置环境
1.将海康威视提供的库文件安装到/usr/lib和/lib下

具体方法

sudo chmod 777 lib/*
sudo cp  lib/* /usr/lib/
sudo cp  lib/* /lib/
cd /usr/lib 
sudo ldconfig
cd /lib/
sudo ldconfig

三、代码
1.motion_detection.cpp

#include   
#include   
#include   
#include 
#include "HCNetSDK.h"  
#include "public.h" 
#include "LinuxPlayM4.h"
#include 
#include 
#include 
#include 

#include 
#include 

#include 
#define USECOLOR 1  
using namespace std;  
using namespace cv; 

//--------------------------------------------  
int iPicNum=1;//Set channel NO.  
LONG nPort=-1;  
HWND hWnd=0;   
const double MHI_DURATION = 0.5;
const double MAX_TIME_DELTA = 0.5;
const double MIN_TIME_DELTA = 0.05;
const int N = 3;

//
const int CONTOUR_MAX_AERA = 16;

// ring image buffer
IplImage **buf = 0;
int last = 0;

// temporary images
IplImage *mhi = 0; // MHI: motion history image

//CvFilter filter = CV_GAUSSIAN_5x5;
CvConnectedComp *cur_comp, min_comp;
CvConnectedComp comp;
CvMemStorage *storage;
CvPoint pt[4];

//  参数：
//  img – 输入视频帧
//  dst – 检测结果
void  update_mhi( IplImage* img, IplImage* dst, int diff_threshold )
{
    double timestamp = clock()/100.; // get current time in seconds
    CvSize size = cvSize(img->width,img->height); // get current frame size
    int i, j, idx1, idx2;
    IplImage* silh;
    uchar val;
    float temp;
    IplImage* pyr = cvCreateImage( cvSize((size.width & -2)/2, (size.height & -2)/2), 8, 1 );
    CvMemStorage *stor;
    CvSeq *cont, *result, *squares;
    CvSeqReader reader;
    Mat  mat_mhi;

    if( !mhi || mhi->width != size.width || mhi->height != size.height ) 
    {
        if( buf == 0 ) 
        {
            buf = (IplImage**)malloc(N*sizeof(buf[0]));
            memset( buf, 0, N*sizeof(buf[0]));
        }

        for( i = 0; i < N; i++ ) 
        {
            cvReleaseImage( &buf[i] );
            buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
            cvZero( buf[i] );
        }
        cvReleaseImage( &mhi );
        mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
        cvZero( mhi ); // clear MHI at the beginning
    } // end of if(mhi)

    cvCvtColor( img, buf[last], CV_BGR2GRAY ); // convert frame to grayscale

    idx1 = last;
    idx2 = (last + 1) % N; // index of (last - (N-1))th frame 
    last = idx2;

    // 做帧差
    silh = buf[idx2];
    cvAbsDiff( buf[idx1], buf[idx2], silh ); // get difference between frames

    // 对差图像做二值化
    cvThreshold( silh, silh, 30, 255, CV_THRESH_BINARY ); // and threshold it
    Mat mat_silh=cvarrToMat(silh);
    cv::motempl::updateMotionHistory( mat_silh, mat_mhi, timestamp, MHI_DURATION ); // update MHI
    *mhi=IplImage(mat_mhi);
    cvCvtScale( mhi, dst, 255./MHI_DURATION, 
      (MHI_DURATION - timestamp)*255./MHI_DURATION );    
    cvCvtScale( mhi, dst, 255./MHI_DURATION, 0 );    

    // 中值滤波，消除小的噪声
    cvSmooth( dst, dst, CV_MEDIAN, 3, 0, 0, 0 );

    // 向下采样，去掉噪声
    cvPyrDown( dst, pyr, 7 );
    cvDilate( pyr, pyr, 0, 1 );  // 做膨胀操作，消除目标的不连续空洞
    cvPyrUp( pyr, dst, 7 );
    //
    // 下面的程序段用来找到轮廓
    //
    // Create dynamic structure and sequence.
    stor = cvCreateMemStorage(0);
    cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

    // 找到所有轮廓
    cvFindContours( dst, stor, &cont, sizeof(CvContour), 
                    CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0));

    // 直接使用CONTOUR中的矩形来画轮廓
    for(;cont;cont = cont->h_next)
    {
              CvRect r = ((CvContour*)cont)->rect;
              if(r.height * r.width > CONTOUR_MAX_AERA) // 面积小的方形抛弃掉
              {
                  cvRectangle( img, cvPoint(r.x,r.y), 
                          cvPoint(r.x + r.width, r.y + r.height),
                          CV_RGB(255,0,0), 1, CV_AA,0);
              }
    }
    // free memory
    cvReleaseMemStorage(&stor);
    cvReleaseImage( &pyr );
}
//change vedio format from yv12 to YUV
void yv12toYUV(char *outYuv, char *inYv12, int width, int height,int widthStep)  
{  
   int col,row;  
   unsigned int Y,U,V;  
   int tmp;  
   int idx;   

   for (row=0; rowint rowptr=row*width;  

      for (col=0; col//int colhalf=col>>1;  
         tmp = (row/2)*(width/2)+(col/2);    
         Y=(unsigned int) inYv12[row*width+col];  
         U=(unsigned int) inYv12[width*height+width*height/4+tmp];  
         V=(unsigned int) inYv12[width*height+tmp];  

         outYuv[idx+col*3]   = Y;  
         outYuv[idx+col*3+1] = U;  
         outYuv[idx+col*3+2] = V;  
      }  
   }    
}  



//解码回调 视频为YUV数据(YV12)，音频为PCM数据  
void CALLBACK DecCBFun(int nPort,char * pBuf,int nSize,FRAME_INFO * pFrameInfo, int nReserved1,int nReserved2)  
{  
    long lFrameType = pFrameInfo->nType;  

    if(lFrameType ==T_YV12)  //YV12
    {  

    IplImage* pImgYCrCb = cvCreateImage(cvSize(pFrameInfo->nWidth,pFrameInfo->nHeight), IPL_DEPTH_8U, 3);//得到图像的Y分量    
    yv12toYUV(pImgYCrCb->imageData, pBuf, pFrameInfo->nWidth,pFrameInfo->nHeight,pImgYCrCb->widthStep);//得到全部RGB图像  
//申请内存
    IplImage* pImg = cvCreateImage(cvSize(pFrameInfo->nWidth,pFrameInfo->nHeight), IPL_DEPTH_8U, 3);  
    IplImage* motion = cvCreateImage(cvSize(pFrameInfo->nWidth,pFrameInfo->nHeight), IPL_DEPTH_8U, 1);  
    cvCvtColor(pImgYCrCb,pImg,CV_YCrCb2RGB);
    update_mhi( pImg, motion, 60 );//detect motion
    cvShowImage( "Motion", pImg );
    cvWaitKey(1);
    cvReleaseImage(&pImgYCrCb); 
    cvReleaseImage(&pImg);
    }

    if(lFrameType ==T_AUDIO16)
    {
    //PCM    
    }

}

///实时流回调  
void CALLBACK fRealDataCallBack(LONG lRealHandle,DWORD dwDataType,BYTE *pBuffer,DWORD dwBufSize,void *pUser)  
{    
    DWORD dRet;  

    switch (dwDataType)  
    {  

    case NET_DVR_SYSHEAD:    //系统头  
        if (!PlayM4_GetPort(&nPort)) //获取播放库未使用的通道号  
        {  
            break;  
        }  
        if(dwBufSize > 0)  
        {   
            if (!PlayM4_OpenStream(nPort,pBuffer,dwBufSize,1024*1024))  
            {  
                dRet=PlayM4_GetLastError(nPort);  
                break;  
            } 
            //设置解码回调函数 只解码不显示  
            if (!PlayM4_SetDecCallBack(nPort,DecCBFun))  
            {  
                dRet=PlayM4_GetLastError(nPort);  
                break;  
            }  
            //打开视频解码  
            if (!PlayM4_Play(nPort,hWnd))  
            {  
                dRet=PlayM4_GetLastError(nPort);  
                break;  
            }  

            //打开音频解码, 需要码流是复合流  
            if (!PlayM4_PlaySoundShare(nPort))  
            {  
                dRet=PlayM4_GetLastError(nPort);  
                break;  
            }         
        }  
        break;  

    case NET_DVR_STREAMDATA:   //码流数据  复合流/视频音频
        if (dwBufSize > 0 && nPort != -1)  
        {  
            BOOL inData=PlayM4_InputData(nPort,pBuffer,dwBufSize); 

            while (!inData)  
            {  
                waitKey(0);  
                inData=PlayM4_InputData(nPort,pBuffer,dwBufSize);  
                printf("PlayM4_InputData failed \n");     
            }  
        }  
        break; 
    }         
}  


void CALLBACK g_ExceptionCallBack(DWORD dwType, LONG lUserID, LONG lHandle, void *pUser)  
{  
    char tempbuf[256] = {0};  
    switch(dwType)   
    {  
    case EXCEPTION_RECONNECT:    //预览时重连  
    printf("----------reconnect--------%ld\n", time(NULL));  
    break;  
    default:  
    break;  
    }  
}  

int main(int argc,char ** argv) {  

  //---------------------------------------  
  // 初始化  
  NET_DVR_Init();  
  //设置连接时间与重连时间  
  NET_DVR_SetConnectTime(2000, 1);  
  NET_DVR_SetReconnect(10000, true);  

  // 注册设备  
  LONG lUserID;  
  NET_DVR_DEVICEINFO_V30 struDeviceInfo;  
  lUserID = NET_DVR_Login_V30("192.168.1.111", 8000, "admin", "12345", &struDeviceInfo);  

  if (lUserID < 0)  
  {  
       printf("Login error, %d\n", NET_DVR_GetLastError());  
       NET_DVR_Cleanup();  
       return HPR_ERROR;  
  } else 
        printf("Login success!\n");
  //---------------------------------------  
  //设置异常消息回调函数  
  NET_DVR_SetExceptionCallBack_V30(0, NULL,g_ExceptionCallBack, NULL);  

  //---------------------------------------  
  //启动预览并设置回调数据流   
  NET_DVR_CLIENTINFO ClientInfo;  
  ClientInfo.lChannel = 1;        //Channel number 设备通道号  
  ClientInfo.hPlayWnd = hWnd;     //窗口为空，设备SDK不解码只取流  
  ClientInfo.lLinkMode = 0;       //Main Stream  
  ClientInfo.sMultiCastIP = NULL;   

  LONG lRealPlayHandle;  

  lRealPlayHandle = NET_DVR_RealPlay_V30(lUserID,&ClientInfo,fRealDataCallBack,NULL,FALSE);


  if (lRealPlayHandle<0)  
  {  
        printf("pyd1---NET_DVR_RealPlay_V30 error %d\n", NET_DVR_GetLastError());  
        return HPR_ERROR;
  }  
  cvNamedWindow("Motion",CV_WINDOW_NORMAL);//could resize the window
  sleep(-1);

  //---------------------------------------  
  //关闭预览  
  cvDestroyWindow( "Motion" );

  if(!NET_DVR_StopRealPlay(lRealPlayHandle))  
  {  
    printf("NET_DVR_StopRealPlay error! Error number: %d\n", NET_DVR_GetLastError());  
    return HPR_ERROR;
  }  
  printf("close preview\n");
  //注销用户  
  NET_DVR_Logout(lUserID);  
  NET_DVR_Cleanup();  

  return 0;  
}  

2.CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(motion_detection)
if(COMMAND cmake_policy)
      cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
)
find_package( OpenCV REQUIRED )
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES motion_detection
  CATKIN_DEPENDS cv_bridge image_transport roscpp sensor_msgs
#  DEPENDS system_lib
)
include_directories(
  ${catkin_INCLUDE_DIRS}
  include
)
add_executable(motion_detection src/motion_detection.cpp)
target_link_libraries(motion_detection
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
    libPlayCtrl.so
    libAudioRender.so
    libSuperRender.so           
    libhcnetsdk.so
)

3.编译

mkdir build
cd build
cmake ..
make

4.运行

./motion_detection