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。
目录
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 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.cppGrabImage_Display.cpp 3.3关于MVS中的资料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：/news/31317343619.html
镜头资料：/news/319114719513.html
1.1.2软件选择
VS+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：/s/1EpOfbkrzkpLyX14w7vINUw
提取码：7qxl
【opencv4.3.0教程】01之opencv介绍与配置
/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：/s/1r0gISpfQFuowwA7q2BL3og
提取码：gll1
/visual_eagle/article/details/106236109
Windows安装qt与VS添加QT工具过程
/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：/s/1RanOEDx-HQ4zJgBpSobAqg
提取码：d3cy
参考博客：/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：/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：
/o_ha_yo_yepeng/article/details/79537452
/o_ha_yo_yepeng/article/details/79825648
/p/1368c8ea24ff
/qq_15029743/article/details/79733960
/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：/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。
/
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。
/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：/s/1FsJg1hDCBdoJ_8hye6j1rw
提取码：z94k
/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：/item/scanf_s/443572?fr=aladdin
修改后的源码如下：
#include <stdio.h>#include <Windows.h>#include <process.h>#include <conio.h>#include "MvCameraControl.h"bool g_bExit = false;unsigned int g_nPayloadSize = 0;// ch:等待按键输入 | en:Wait for key pressvoid 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 camerastDevInfo.SpecialInfo.stGigEInfo = stGigEDev;do{// ch:选择设备并创建句柄 | en:Select device and create handlenRet = 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 devicenRet = 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 offnRet = 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 sizeMVCC_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 imagenRet = 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 imagenRet = 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 devicenRet = 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 handlenRet = 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 <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 pressvoid 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 nameprintf("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 deviceMV_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 handlenRet = 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 devicenRet = 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 offnRet = 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 sizeMVCC_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 imagenRet = 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 imagenRet = MV_CC_StopGrabbing(handle);if (MV_OK != nRet){printf("Stop Grabbing fail! nRet [0x%x]\n", nRet);break;}// ch:关闭设备 | Close devicenRet = MV_CC_CloseDevice(handle);if (MV_OK != nRet){printf("ClosDevice fail! nRet [0x%x]\n", nRet);break;}// ch:销毁句柄 | Destroy handlenRet = 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VS.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。
