VS调用大恒相机sdk实时显示图像并进行图像处理+OPENCV

前言：
近期企业需要用大恒相机的sdk开发项目，我采用VS2017+QT5.10.1+MSVC。

一、环境配置

VS2017和qt的安装不多介绍，主要介绍大恒sdk的配置。
1.https://www.daheng-image.com/list-58-1.html 官网下载大恒相机的SDK包，选择自己对应的相机
2.解压到自己的文件夹
文件目录如下：

3.c++文件的配置主要有头文件、库文件。
头文件在项目中的配置：
右击项目-属性-VC++目录-包含目录

路径为刚才解压的文件夹下路径

库目录路径：
右击项目-属性-VC++目录-库目录

路径为解压文件下路径

附加库依赖
右击项目-属性-链接器-输入

注意事项：有第三方库，将dll文件加入项目文件下即可。这样库文件配置完成开始编写代码部分。我用了opencv。

二、图像采集

 1.打开设备注意事项，必须先进行设备初始化 IGXFactory::GetInstance().Init();

//打开设备
void DH_MER::Open_Device()
{try{do{//初始化IGXFactory::GetInstance().Init();//枚举设备gxdeviceinfo_vector vectorDeviceInfo;IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);if (0 == vectorDeviceInfo.size()){cout << "无可用设备!" << endl;break;}cout << vectorDeviceInfo.size() << endl;//打开第一台设备以及设备下面第一个流ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(vectorDeviceInfo[0].GetSN(),GX_ACCESS_EXCLUSIVE);ObjStreamPtr = ObjDevicePtr->OpenStream(0);提高网络相机的采集性能,设置方法参考以下代码（目前只有千兆网系列相机支持设置最优包长）//GX_DEVICE_CLASS_LIST objDeviceClass =ObjDevicePtr->GetDeviceInfo().GetDeviceClass();//if (GX_DEVICE_CLASS_GEV == objDeviceClass)//{//    //判断设备是否支持流通道数据包功能//    if (true == ObjFeatureControlPtr->IsImplemented("GevSCPSPacketSize"))//  {//     //获取当前网络环境的最优包长值//      int nPacketSize = ObjStreamPtr->GetOptimalPacketSize();//       //将最优包长值设置为当前设备的流通道包长值//        ObjFeatureControlPtr->GetIntFeature("GevSCPSPacketSize")->SetValue(nPacketSize);//  }//}//注册设备掉线事件【目前只有千兆网系列相机支持此事件通知】pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);//获取远端设备属性控制器ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();
#ifdef _DEBUG//设置心跳超时时间 5minObjFeatureControlPtr->GetIntFeature("GevHeartbeatTimeout")->SetValue(5000);
#endiftxt_factoryName = ObjFeatureControlPtr->GetStringFeature("DeviceVendorName")->GetValue();txt_basicMode = ObjFeatureControlPtr->GetStringFeature("DeviceModelName")->GetValue();cout << "成功打开第一个设备" << endl;} while (0);}catch (CGalaxyException& e){cout << "错误码: " << e.GetErrorCode() << endl;cout << "错误描述信息: " << e.what() << endl;}catch (std::exception& e){cout << "错误描述信息: " << e.what() << endl;}
}

 2.采集图像

//采集图像
void DH_MER::Pick_Picture()
{//注册回调采集pCaptureEventHandler = new CSampleCaptureEventHandler();ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, this);//发送开采命令ObjStreamPtr->StartGrab();ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
}

3.停止采集

//停止采集
void DH_MER::Stop_Picking()
{//发送停采命令ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();ObjStreamPtr->StopGrab();
}

4.采集图像事件处理
这里才是对采集的图像进行处理的地方

void CSampleCaptureEventHandler::DoOnImageCaptured(CImageDataPointer& objImageDataPointer, void* pUserParam)
{DH_MER* camUiPtr = (DH_MER*)pUserParam;cout << "收到一帧图像!" << endl;//cout << "ImageInfo: " << objImageDataPointer->GetPayloadSize() << endl;camUiPtr->txt_width = QString::number(objImageDataPointer->GetWidth());camUiPtr->txt_height = QString::number(objImageDataPointer->GetHeight());camUiPtr->captureImgMat.create(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC3);void* pRGB24Buffer = NULL;//假设原始数据是BayerRG8图像pRGB24Buffer = objImageDataPointer->ConvertToRGB24(GX_BIT_0_7, GX_RAW2RGB_NEIGHBOUR, true);memcpy(camUiPtr->captureImgMat.data, pRGB24Buffer, (objImageDataPointer->GetHeight()) * (objImageDataPointer->GetWidth()) * 3);//flip(img, img, 0);cout << "帧数：" << objImageDataPointer->GetFrameID() << endl;
}

5.相机线程调用实时采集

void WorkThread::run()
{unsigned char ret;if (1 == ThreadId){cancl->Open_Device();//打开设备cancl->Pick_Picture();//开始采集//if (CAM_RETURNVAL_NO_DEVICES == ret)//未找到摄像头设备//{//    return;//}}while (1){if (workcount)//关闭线程{cancl->Close_Device();workcount = false;break;}readFarme();QThread::usleep(33);}}

6.相机采集的图像进行算法处理
因算法不便公开，只写图片传出部分。
只需要用lable展示QPixmap即可ui->label_9->setPixmap(fitpixmap);

 //获取的到mat数据转换为image(mat为CV_8UC1)QImage image(cancl->captureImgMat.cols, cancl->captureImgMat.rows, QImage::Format_Indexed8);image.setColorCount(256);for (int i = 0; i < 256; i++){image.setColor(i, qRgb(i, i, i));}uchar *pSrc = cancl->captureImgMat.data;for (int row = 0; row < cancl->captureImgMat.rows; row++){uchar *pDest = image.scanLine(row);memcpy(pDest, pSrc, cancl->captureImgMat.cols);pSrc += cancl->captureImgMat.step;}//获取摄像图像QPixmap pixmap = QPixmap::fromImage(image);emit UpdateImage(pixmap);//触发信号更新UI

三、相机类代码

 可以根据需求添加设备组和当前设备对象进行处理CameraClass.h

#pragma once
#include <opencv2/opencv.hpp>
#include"GalaxyIncludes.h"
#include<QObject>
using namespace cv;
using namespace std;
class CameraClass :public QObject
{Q_OBJECT
public:CameraClass();~CameraClass();//声明事件回调对象指针IDeviceOfflineEventHandler* pDeviceOfflineEventHandler = NULL;//掉线事件回调对象GX_DEVICE_OFFLINE_CALLBACK_HANDLE hDeviceOffline = NULL;//注册设备掉线IFeatureEventHandler* pFeatureEventHandler = NULL;//<远端设备事件回调对象ICaptureEventHandler* pCaptureEventHandler = NULL;//<采集回调对象CGXDevicePointer ObjDevicePtr;//设备指针CGXStreamPointer ObjStreamPtr;//流指针CGXFeatureControlPointer ObjFeatureControlPtr;//（远端）设备属性控制器指针Mat captureImgMat;//相机拍摄的图片QString choose_triggerMode;//选择触发模式QString txt_triggerSource;//触发源int txt_exposeTime;//曝光时间double txt_gain;//增益QString txt_width;//图像宽QString txt_height;//图像高QString txt_factoryName;//厂商QString txt_basicMode;
public:void Open_Device();//open the devicevoid Close_Device();//close the devicevoid Pick_Picture();//start picking the picturevoid Stop_Picking();//stop picking the picture};
class CSampleCaptureEventHandler : public ICaptureEventHandler
{public:void DoOnImageCaptured(CImageDataPointer& objImageDataPointer, void* pUserParam);
};//用户继承掉线事件处理类
class CSampleDeviceOfflineEventHandler : public IDeviceOfflineEventHandler
{public:void DoOnDeviceOfflineEvent(void* pUserParam){cout << "收到设备掉线事件!" << endl;}
};

CameraClass.cpp

#include "CameraClass.h"CameraClass::CameraClass()
{}CameraClass::~CameraClass()
{}
//打开设备
void CameraClass::Open_Device()
{try{do{//初始化IGXFactory::GetInstance().Init();//枚举设备gxdeviceinfo_vector vectorDeviceInfo;IGXFactory::GetInstance().UpdateDeviceList(1000, vectorDeviceInfo);if (0 == vectorDeviceInfo.size()){cout << "无可用设备!" << endl;break;}cout << vectorDeviceInfo.size() << endl;//打开第一台设备以及设备下面第一个流ObjDevicePtr = IGXFactory::GetInstance().OpenDeviceBySN(vectorDeviceInfo[0].GetSN(),GX_ACCESS_EXCLUSIVE);ObjStreamPtr = ObjDevicePtr->OpenStream(0);提高网络相机的采集性能,设置方法参考以下代码（目前只有千兆网系列相机支持设置最优包长）//GX_DEVICE_CLASS_LIST objDeviceClass =ObjDevicePtr->GetDeviceInfo().GetDeviceClass();//if (GX_DEVICE_CLASS_GEV == objDeviceClass)//{//    //判断设备是否支持流通道数据包功能//    if (true == ObjFeatureControlPtr->IsImplemented("GevSCPSPacketSize"))//  {//     //获取当前网络环境的最优包长值//      int nPacketSize = ObjStreamPtr->GetOptimalPacketSize();//       //将最优包长值设置为当前设备的流通道包长值//        ObjFeatureControlPtr->GetIntFeature("GevSCPSPacketSize")->SetValue(nPacketSize);//  }//}//注册设备掉线事件【目前只有千兆网系列相机支持此事件通知】pDeviceOfflineEventHandler = new CSampleDeviceOfflineEventHandler();hDeviceOffline = ObjDevicePtr->RegisterDeviceOfflineCallback(pDeviceOfflineEventHandler, NULL);//获取远端设备属性控制器ObjFeatureControlPtr = ObjDevicePtr->GetRemoteFeatureControl();
#ifdef _DEBUG//设置心跳超时时间 5minObjFeatureControlPtr->GetIntFeature("GevHeartbeatTimeout")->SetValue(5000);
#endiftxt_factoryName = ObjFeatureControlPtr->GetStringFeature("DeviceVendorName")->GetValue();txt_basicMode = ObjFeatureControlPtr->GetStringFeature("DeviceModelName")->GetValue();cout << "成功打开第一个设备" << endl;} while (0);}catch (CGalaxyException& e){cout << "错误码: " << e.GetErrorCode() << endl;cout << "错误描述信息: " << e.what() << endl;}catch (std::exception& e){cout << "错误描述信息: " << e.what() << endl;}
}
//关闭设备
void CameraClass::Close_Device()
{try{Stop_Picking();//注销采集回调ObjStreamPtr->UnregisterCaptureCallback();注销远端设备事件//ObjFeatureControlPtr->UnregisterFeatureCallback(hFeatureEvent);//注销设备掉线事件ObjDevicePtr->UnregisterDeviceOfflineCallback(hDeviceOffline);//释放资源ObjStreamPtr->Close();ObjDevicePtr->Close();//反初始化库IGXFactory::GetInstance().Uninit();//销毁事件回调指针if (NULL != pCaptureEventHandler){delete pCaptureEventHandler;pCaptureEventHandler = NULL;}if (NULL != pDeviceOfflineEventHandler){delete pDeviceOfflineEventHandler;pDeviceOfflineEventHandler = NULL;}if (NULL != pFeatureEventHandler){delete pFeatureEventHandler;pFeatureEventHandler = NULL;}cout << "关闭设备" << endl;}catch (const std::exception&){}}
//采集图像
void CameraClass::Pick_Picture()
{//注册回调采集pCaptureEventHandler = new CSampleCaptureEventHandler();ObjStreamPtr->RegisterCaptureCallback(pCaptureEventHandler, this);//发送开采命令ObjStreamPtr->StartGrab();ObjFeatureControlPtr->GetCommandFeature("AcquisitionStart")->Execute();
}
//停止采集
void CameraClass::Stop_Picking()
{//发送停采命令ObjFeatureControlPtr->GetCommandFeature("AcquisitionStop")->Execute();ObjStreamPtr->StopGrab();
}
void CSampleCaptureEventHandler::DoOnImageCaptured(CImageDataPointer& objImageDataPointer, void* pUserParam)
{CameraClass* camUiPtr = (CameraClass*)pUserParam;cout << "收到一帧图像!" << endl;//cout << "ImageInfo: " << objImageDataPointer->GetPayloadSize() << endl;camUiPtr->txt_width = QString::number(objImageDataPointer->GetWidth());camUiPtr->txt_height = QString::number(objImageDataPointer->GetHeight());camUiPtr->captureImgMat.create(objImageDataPointer->GetHeight(), objImageDataPointer->GetWidth(), CV_8UC3);void* pRGB24Buffer = NULL;//假设原始数据是BayerRG8图像pRGB24Buffer = objImageDataPointer->ConvertToRGB24(GX_BIT_0_7, GX_RAW2RGB_NEIGHBOUR, true);memcpy(camUiPtr->captureImgMat.data, pRGB24Buffer, (objImageDataPointer->GetHeight()) * (objImageDataPointer->GetWidth()) * 3);//flip(img, img, 0);cout << "帧数：" << objImageDataPointer->GetFrameID() << endl;
}

四、效果展示

实际效果不错，可以看文档更改相机设置。
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VS调用大恒相机sdk实时显示图像并进行图像处理+OPENCV

一、环境配置

二、图像采集

三、相机类代码

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