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

工业相机我买的是海康威视的，具体的参数如下：

工业相机资料：https://c109334.hi1718.com/news/201831317343619.html

镜头资料：https://c109334.hi1718.com/news/2018319114719513.html

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/105998661

②VS中安装Qt（配置步骤参考下面两个博客）
Qt相关文件：
链接：https://pan.baidu.com/s/1r0gISpfQFuowwA7q2BL3og
提取码：gll1
https://blog.csdn.net/visual_eagle/article/details/106236109
Windows安装qt与VS2019添加QT工具过程
https://blog.csdn.net/ljb9854/article/details/102600931

③安装海康威视提供的MVS客户端操作，我是安装了然后直接就能打开了，若不能打开就设置一下电脑与相机的IP，MVS_SDK_V3_2_0_VC90_Runtime_190626文件是用来更新原来电脑上的MVS版本。
MVS文件：
链接：https://pan.baidu.com/s/1RanOEDx-HQ4zJgBpSobAqg
提取码：d3cy
参考博客：https://blog.csdn.net/u014779536/article/details/106577273

1.2关于安防相机与工业相机

一开始在网上搜索相关海康威视SDK二次开发的时候，发现有很多的资料，然后就对着开始操作，自己琢磨了好久激活相机修改密码等等，发现都无济于事。后来一问客服才知道，那些是安防相机的相关资料，不是工业相机。
嗯，，，心态炸裂。。。
关于安防相机和工业相机（网络设备SDK和工业相机SDK）的区别，可以自行百度，这里提个醒防止走入误区。
安防相机买回来是需要激活重新设置密码的，工业相机买回来直接用。
这里贴出关于安防相机SDK二次开发的资料，给有需要的人做个参考。

关于安防相机的SDK相关资料下载：https://www.hikvision.com/cn/
这些SDK和工业相机的完全不一样，都不用，网上大部分的都是海康安防相机的SDK开发资料，什么实时预览&抓图&云台控制等等。
关于安防相机的SDK开发资料：
https://blog.csdn.net/o_ha_yo_yepeng/article/details/79537452
https://blog.csdn.net/o_ha_yo_yepeng/article/details/79825648
https://www.jianshu.com/p/1368c8ea24ff
https://blog.csdn.net/qq_15029743/article/details/79733960
https://www.bilibili.com/video/BV1ui4y1t72x?t=1326

2.相关资料与官方文档

2.1官方文档

买了相机之后，问下客服要一下MVS软件，安装之后，关于软件的使用说明和IP设置说明参考如下文件，关于如何查看相机IP等等，
千兆网口工业面阵相机用户手册V3.0.1
海康威视相机IP设置说明
链接：https://pan.baidu.com/s/11FD3GIhz5E1O5-vJ2u-_tA
提取码：n8oa

海康威视工业相机官网，里面有关于工业相机的介绍及客户端MVS软件等等。
https://www.hikrobotics.com/

2.2网上相关的资料

①《海康威视工业相机SDK二次开发》这篇是MFC的，且官方提供的界面功能软件都是基于MFC的，配置好环境可以直接打开使用。
https://blog.csdn.net/weixin_47364204/article/details/108537518

②《C++调用海康相机SDK采集图像(C++\QT Creator\OpenCV\线程\接口)》
这篇是基于QTCreater的，没有在VS环境中，源码我下载下来了，给有需要的人。
链接：https://pan.baidu.com/s/1FsJg1hDCBdoJ_8hye6j1rw
提取码：z94k
https://blog.csdn.net/biggestcherry/article/details/106154321

3.海康威视工业相机SDK官方例程的修改

3.1环境配置

PS：不管运行海康威视的哪个例程，都需要先配置下环境
在VS项目中配置opencv和mvs的动态链接库等（用到Opencv的话）
①在VS中配置Opencv



②在VS中配置MVS

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;
}

运行效果：
将工业相机接上电源和连接电脑，通过打开MVS客户端软件，知道你电脑网口的IP地址和工业相机的IP地址：


表示相机正在采集中。。。

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;
}

运行效果：

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。