Qt+OpenCV调用海康相机SDK采集图像(C++)

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

 INCLUDEPATH += D:\OpenCV\opencv\build\include \
                 D:\OpenCV\opencv\build\include\opencv \
                 D:\OpenCV\opencv\build\include\opencv2
 DEPENDPATH += D:\OpenCV\opencv\build\include \
                 D:\OpenCV\opencv\build\include\opencv \
                 D:\OpenCV\opencv\build\include\opencv2

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：

#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

mycanera.cpp文件参考一下代码：

#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;
}

mainwindow.h

#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

minwindow.cpp

#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();
    }
    else
    {
        return QImage();
    }
}

运行结果：（ps：停止采集没有用）

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