Qt+OpenCV调用海康相机SDK采集图像(C++) - 威海云博客 - 博客园

安宇雨 - 随手采集
2024-05-27 10:57:58
随手采集
0000-未整理-等待研究

配置环境：

　　Qt5.12.5

　　OpenCV3.4.9

　　海康MVS3.1.0

开发工具：QT Creator-4.11.0

1、开发步骤：

1）创建QT项目，在pro文件中添加相机的引用文件

1.1）添加海康的库：

将海康SDK库MVS\Development\Includes和MVS\Development\Libraries\win64下复制到自己的工程目录下

然后把库添加到.pro文件中

点击下一步之后就会在.pro文件中出现如下代码

然后在这后面加上以下代码，添加依赖项

1 INCLUDEPATH += $$PWD/includes/
2 INCLUDEPATH += $$PWD/includes/GenICam/
3
4 DEPENDPATH += $$PWD/includes/
5 DEPENDPATH += $$PWD/includes/GenICam/

1.2）配置OpenCV

跟上面配置HKSDK步骤相同库文件目录为OpenCV的安装目录D:/OpenCV/opencv/build/x64/vc14/lib/opencv_world349d.lib

配置完成会在。pro文件中出现如下代码

需要在后面添加如下代码

; "复制代码")

1 INCLUDEPATH += D:\OpenCV\opencv\build\include 2 D:\OpenCV\opencv\build\include\opencv 3 D:\OpenCV\opencv\build\include\opencv2 4 DEPENDPATH += D:\OpenCV\opencv\build\include 5 D:\OpenCV\opencv\build\include\opencv 6 D:\OpenCV\opencv\build\include\opencv2

; "复制代码")

这样海康SDK和OpenCV库就配置完成了，可以在项目引入他们的头文件了。

2、开发步骤：

新建一个类：mycanera.h和mycaner.cpp生成这两个文件（ps：建文件时将camera打错了，^_^）

mycanera.h文件参考一下代码：

; "复制代码")

ifndef MYCANERA_H #define MYCANERA_H #include "MvCameraControl.h"

pragma execution_character_set("utf-8") //设置当前文件为UTF-8编码

pragma warning( disable : 4819 ) //解决SDK中包含中文问题；忽略C4819错误 #include <stdio.h> #include <iostream> #include "opencv2/core/core.hpp" #include "opencv2/opencv.hpp" #include "opencv2/highgui/highgui.hpp" #include <string> #include <QDebug>

using namespace std; using namespace cv; class MyCanera
{ public:

MyCanera(); ~MyCanera(); //声明相关变量及函数等 //枚举相机设备列表

static int EnumDevices(MV_CC_DEVICE_INFO_LIST* pstDevList); // ch:连接相机
int connectCamera(string id); //设置相机触发模式
int setTriggerMode(unsigned int TriggerModeNum); //开启相机采集
int startCamera(); //发送软触发
int softTrigger(); //读取buffer
int ReadBuffer(Mat &image); //设置心跳时间
int setHeartBeatTime(unsigned int time); //设置曝光时间
int setExposureTime(float ExposureTimeNum);

//关闭相机
int closeCamera();

private: void m_hDevHandle; public: unsigned char* m_pBufForSaveImage; // 用于保存图像的缓存 unsigned int m_nBufSizeForSaveImage; unsigned char* m_pBufForDriver; // 用于从驱动获取图像的缓存 unsigned int m_nBufSizeForDriver; MV_CC_DEVICE_INFO_LIST m_stDevList; // ch:设备信息列表结构体变量，用来存储设备列表 MV_CC_DEVICE_INFO m_Device = NULL; //设备对象 }; #endif // MYCANERA_H

; "复制代码")

mycanera.cpp文件参考一下代码：

; "复制代码")

include "mycanera.h" #include <QDebug> MyCanera::MyCanera()

{

m_hDevHandle = NULL;

}

MyCanera::~MyCanera()
{ if (m_hDevHandle)

{
    MV\_CC\_DestroyHandle(m_hDevHandle);
    m_hDevHandle = NULL;
}

} //查询设备列表
int MyCanera::EnumDevices(MV_CC_DEVICE_INFO_LIST* pstDevList)
{ int temp= MV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, pstDevList); if (MV_OK != temp)

{ return -1;
} return 0;

} //连接相机 //id:自定义相机名称
int MyCanera::connectCamera(string id)
{ int temp= EnumDevices(&m_stDevList); if(temp!=0) //设备更新成功接收命令的返回值为0，返回值不为0则为异常

    return -1; if(m_stDevList.nDeviceNum==0) //未找到任何相机
    return 2; for (unsigned int i = 0; i < m_stDevList.nDeviceNum; i++)
{
    MV\_CC\_DEVICE_INFO\* pDeviceInfo = m_stDevList.pDeviceInfo\[i\]; if (NULL == pDeviceInfo)
    { continue;
    } //qDebug() << (char*)pDeviceInfo->SpecialInfo.stGigEInfo.chUserDefinedName;//自定义相机名称 //qDebug() << (char*)pDeviceInfo->SpecialInfo.stGigEInfo.chSerialNumber;//相机序列号
    if(id == (char*)pDeviceInfo->SpecialInfo.stGigEInfo.chUserDefinedName||id == (char*)pDeviceInfo->SpecialInfo.stGigEInfo.chSerialNumber)
    {
        m_Device= m_stDevList.pDeviceInfo\[i\]; break;
    }else { continue;
    }
} if(m_Device==NULL)
{ //未找到指定名称的相机
    qDebug() << "未找到指定名称的相机"; return 3;
}
temp = MV\_CC\_CreateHandle(&m\_hDevHandle, m\_Device);//创建句柄
if(temp  !=0) return -1;

temp = MV\_CC\_OpenDevice(m_hDevHandle);//打开设备
if (temp  !=0)
{
    MV\_CC\_DestroyHandle(m_hDevHandle);
    m_hDevHandle = NULL; return -1;
}else {
    setTriggerMode(1);//设置触发模式：1-打开触发模式 0-关闭触发模式
    return 0;
} if (m\_Device->nTLayerType == MV\_GIGE_DEVICE)//设备类型为网络接口

{ //std::cout<<"Gige Camera"<<std::endl;
}
} //设置相机是否开启触发模式
int MyCanera::setTriggerMode(unsigned int TriggerModeNum)
{ int nRet = MV_CC_SetTriggerMode(m_hDevHandle,TriggerModeNum); if (MV_OK != nRet)

{ return -1;
}

} //启动相机采集
int MyCanera::startCamera()
{ int temp=MV_CC_StartGrabbing(m_hDevHandle); if(temp!=0)

{
    qDebug() << "抓图失败"; return -1;
}else {
    qDebug() << "抓图成功"; return 0;
}

} //发送软触发
int MyCanera::softTrigger()
{ int enumValue = MV_CC_SetEnumValue(m_hDevHandle,"TriggerSource",MV_TRIGGER_SOURCE_SOFTWARE); if(enumValue != 0){

    qDebug() << "设置软触发失败"; return -1;
}else {
    qDebug() << "设置软触发";
} int comdValue= MV\_CC\_SetCommandValue(m_hDevHandle, "TriggerSoftware"); if(comdValue!=0)
{
    qDebug() << "软触发失败"; return -1;
}else {
    qDebug() << "软触发一次"; return 0;
}

} //读取相机中的图像
int MyCanera::ReadBuffer(Mat &image)
{

unsigned int nBufSize = 0;//缓存大小
MVCC_INTVALUE stIntvalue; //获取一帧数据的大小
memset(&stIntvalue, 0, sizeof(MVCC_INTVALUE)); int tempValue = MV\_CC\_GetIntValue(m_hDevHandle, "PayloadSize", &stIntvalue); if (tempValue != 0)
{
    qDebug() << "GetIntValue失败"; return -1;
}else{qDebug() << "GetIntValue成功";}
nBufSize = stIntvalue.nCurValue;
m_pBufForDriver = (unsigned char *)malloc(nBufSize);
MV\_FRAME\_OUT\_INFO\_EX stImageInfo;
memset(&stImageInfo,0,sizeof(MV\_FRAME\_OUT_INFO));
qDebug() << MV\_CC\_StartGrabbing(m_hDevHandle); int timeout= MV\_CC\_GetOneFrameTimeout(m\_hDevHandle, m\_pBufForDriver, nBufSize, &stImageInfo, 1000); if(timeout!=0)
{
    qDebug() << "GetOneFrameTimeout失败"; return -1;
}
m_nBufSizeForSaveImage = stImageInfo.nWidth * stImageInfo.nHeight * 3 \+ 2048;
m_pBufForSaveImage = (unsigned char*)malloc(m\_nBufSizeForSaveImage); //向系统申请M\_nBufSizeForSaveImage内存空间 bool isMono;//判断是否为黑白图像
switch (stImageInfo.enPixelType) //像素格式
{ case PixelType\_Gvsp\_Mono8: case PixelType\_Gvsp\_Mono10: case PixelType\_Gvsp\_Mono10_Packed: case PixelType\_Gvsp\_Mono12: case PixelType\_Gvsp\_Mono12_Packed:
    isMono=true; break; default:
    isMono=false; break;
} if(isMono)
{
    image=Mat(stImageInfo.nHeight,stImageInfo.nWidth,CV\_8UC1,m\_pBufForDriver);
} else { //转换图像格式为BGR8
    MV\_CC\_PIXEL\_CONVERT\_PARAM stConvertParam = {0};
    memset(&stConvertParam, 0, sizeof(MV\_CC\_PIXEL\_CONVERT\_PARAM));
    stConvertParam.nWidth = stImageInfo.nWidth;                 //ch:图像宽 | en:image width
    stConvertParam.nHeight = stImageInfo.nHeight;               //ch:图像高 | en:image height
    stConvertParam.pSrcData = m_pBufForDriver;                  //ch:输入数据缓存 | en:input data buffer
    stConvertParam.nSrcDataLen = stImageInfo.nFrameLen;         //ch:输入数据大小 | en:input data size
    stConvertParam.enSrcPixelType = stImageInfo.enPixelType;    //ch:输入像素格式 | en:input pixel format //stConvertParam.enDstPixelType = PixelType\_Gvsp\_BGR8_Packed; //ch:输出像素格式 | en:output pixel format  适用于OPENCV的图像格式
    stConvertParam.enDstPixelType = PixelType\_Gvsp\_RGB8_Packed; //ch:输出像素格式 | en:output pixel format
    stConvertParam.pDstBuffer = m_pBufForSaveImage;                    //ch:输出数据缓存 | en:output data buffer
    stConvertParam.nDstBufferSize = m_nBufSizeForSaveImage;            //ch:输出缓存大小 | en:output buffer size
    MV\_CC\_ConvertPixelType(m_hDevHandle, &stConvertParam);
    image=Mat(stImageInfo.nHeight,stImageInfo.nWidth,CV\_8UC3,m\_pBufForSaveImage);
} return 0;

} //设置心跳时间
int MyCanera::setHeartBeatTime(unsigned int time)
{ //心跳时间最小为500ms

if(time<500)
    time=500; int temp=MV\_CC\_SetIntValue(m_hDevHandle, "GevHeartbeatTimeout", time); if(temp!=0)
{ return -1;
} else { return 0;
}

} //设置曝光时间
int MyCanera::setExposureTime(float ExposureTimeNum)
{ int temp= MV_CC_SetFloatValue(m_hDevHandle, "ExposureTime",ExposureTimeNum ); if(temp!=0) return -1; return 0;
} //关闭相机
int MyCanera::closeCamera()
{ int nRet = MV_OK; if (NULL == m_hDevHandle)

{
    qDebug() << "没有句柄，不用关闭"; return -1;
}
MV\_CC\_CloseDevice(m_hDevHandle);
nRet = MV\_CC\_DestroyHandle(m_hDevHandle);
m_hDevHandle = NULL; return nRet;

}

; "复制代码")

mainwindow.h

; "复制代码")

ifndef MAINWINDOW_H #define MAINWINDOW_H #include <QMainWindow> #include "mycanera.h" QT_BEGIN_NAMESPACE namespace Ui { class MainWindow; }

QT_END_NAMESPACE class MainWindow : public QMainWindow
{

Q_OBJECT public:
MainWindow(QWidget *parent = nullptr); ~MainWindow();

MyCanera *m_pcMycamera;
MV\_CC\_DEVICE\_INFO\_LIST m_stDevList;//设备列表
string cameraName; //相机名称
Mat imageMat; //使用OpenCV接受采集图像
QImage cvMat2QImage(const cv::Mat& mat);
QImage image; private slots: void on\_pushButton\_link_clicked(); void on\_pushButton\_close_clicked(); void on\_pushButton\_caiji_clicked(); private:
Ui::MainWindow *ui;

}; #endif // MAINWINDOW_H

; "复制代码")

minwindow.cpp

; "复制代码")

include "mainwindow.h" #include "ui_mainwindow.h" #include "mycanera.h" #include <QDebug> #include <QImage> #include <QImageReader> MainWindow::MainWindow(QWidget *parent)

: QMainWindow(parent)
, ui(new Ui::MainWindow)

{

ui->setupUi(this);

m_pcMycamera = new MyCanera; int neRt = m_pcMycamera->EnumDevices(&m_stDevList);
qDebug() << neRt;
qDebug() << m_stDevList.pDeviceInfo\[0\]->nTLayerType; //获取相机的IP地址
if(1 == m_stDevList.pDeviceInfo\[0\]->nTLayerType){ int nIp1,nIp2,nIp3,nIp4;
    nIp1 = ((m_stDevList.pDeviceInfo\[0\]->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >\> 24);
    nIp2 = ((m_stDevList.pDeviceInfo\[0\]->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >\> 16);
    nIp3 = ((m_stDevList.pDeviceInfo\[0\]->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >\> 8);
    nIp4 = (m_stDevList.pDeviceInfo\[0\]->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);
    QString nIp = QString("%1.%2.%3.%4").arg(nIp1).arg(nIp2).arg(nIp3).arg(nIp4);
    qDebug() << nIp;
}

}

MainWindow::~MainWindow()
{ delete ui;
} //连接相机
void MainWindow::on_pushButton_link_clicked()
{

cameraName = (char *)m_stDevList.pDeviceInfo\[0\]->SpecialInfo.stGigEInfo.chUserDefinedName;
qDebug() << QString::fromStdString(cameraName); int linkCamera = m_pcMycamera->connectCamera(cameraName);
qDebug() << linkCamera; if(linkCamera == 0){
    qDebug() << "连接相机成功";
}else {
    qDebug() << "连接相机失败";
} //开启抓图
int satrtCamera = m_pcMycamera->startCamera(); if(satrtCamera != 0){
    qDebug() << "启动相机采集失败";
}else {
    qDebug() << "正在启动相机采集信息";
}

} //关闭设备
void MainWindow::on_pushButton_close_clicked()
{ //关闭设备，释放资源

int close = m_pcMycamera->closeCamera(); if(close != 0){
    qDebug() << "相机关闭失败";
}

} //采集单张图像按钮
void MainWindow::on_pushButton_caiji_clicked()
{ //设置相机软触发

int softTrigger = m_pcMycamera->softTrigger();//发送软触发
if(softTrigger != 0){
    qDebug() << "失败";
}else {
    qDebug() << "成功触发一次";
} //读取相机中的图像
int readInt = m_pcMycamera->ReadBuffer(imageMat); if(readInt != 0){
    qDebug() << "读取图像失败";
}
image = cvMat2QImage(imageMat);
ui->label_image->setPixmap(QPixmap::fromImage(image));

} //Mat转QImage函数
QImage MainWindow::cvMat2QImage(const cv::Mat& mat)
{ // 8-bits unsigned, NO. OF CHANNELS = 1

if(mat.type() == CV_8UC1)
{
    QImage qimage(mat.cols, mat.rows, QImage::Format_Indexed8); // Set the color table (used to translate colour indexes to qRgb values)
    qimage.setColorCount(256); for(int i = 0; i < 256; i++)
    {
        qimage.setColor(i, qRgb(i, i, i));
    } // Copy input Mat
    uchar *pSrc = mat.data; for(int row = 0; row < mat.rows; row ++)
    {
        uchar *pDest = qimage.scanLine(row);
        memcpy(pDest, pSrc, mat.cols);
        pSrc += mat.step;
    } return qimage;
} // 8-bits unsigned, NO. OF CHANNELS = 3
else if(mat.type() == CV_8UC3)
{ // Copy input Mat
    const uchar *pSrc = (const uchar*)mat.data; // Create QImage with same dimensions as input Mat

QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_RGB888); return image.rgbSwapped();

} else if(mat.type() == CV_8UC4)
{ // Copy input Mat
    const uchar *pSrc = (const uchar*)mat.data; // Create QImage with same dimensions as input Mat

QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_ARGB32); return image.copy();