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Qt，C++海康2D工业相机二次开发

发布时间：2026/7/16 19:24:44
Qt，C++海康2D工业相机二次开发 1.先下载海康的MVS客户端下载安装后路径下会自动有相应的安装包包括头文件以及lib库文件海康机器人-机器视觉-下载中心2.在pro项目文件里面配置库文件以及头文件INCLUDEPATH $$PWD/Hik_Includes DEPENDPATH $$PWD/Hik_Includes LIBS -L$$PWD/Libs/ -lMvCameraControl也可以配置opencv或者与PLC的snap7通讯如果需要win32:CONFIG(release, debug|release): LIBS -LD:/MY_Software/opencv4.5.1/opencv4.5.1/opencv/build/x64/vc14/lib/ -lopencv_world451 else:win32:CONFIG(debug, debug|release): LIBS -LD:/MY_Software/opencv4.5.1/opencv4.5.1/opencv/build/x64/vc14/lib/ -lopencv_world451d INCLUDEPATH D:/MY_Software/opencv4.5.1/opencv4.5.1/opencv/build/include DEPENDPATH D:/MY_Software/opencv4.5.1/opencv4.5.1/opencv/build/include win32:CONFIG(release, debug|release): LIBS -L$$PWD/./release/ -lsnap7 else:win32:CONFIG(debug, debug|release): LIBS -L$$PWD/./debug/ -lsnap7 else:unix: LIBS -L$$PWD/./ -lsnap7 INCLUDEPATH $$PWD/ DEPENDPATH $$PWD/3.相机与电脑连接我的相机是通过一个USB-以太网和电脑相连需要改电脑端口IP相机IP在MVS客户端上面改就可以了改电脑IP可以参考我的基于Qt和C的海康网络摄像头SDK开发详细步骤_海康威视摄像头sdk-CSDN博客为了方便相机连接我也将两个相机改了名字yzw123和ocr456。在MVS可以试试看看相机拍摄的画面在qt里面调试程序记得把MVS关了要不然会占用相机导致qt程序无法调用该相机4.我这里写了camerainterface和hikvisionsdk来实现连接调用相机并抓取画面。程序是借鉴别人的。camerainterface.h#ifndef CAMERAINTERFACE_H #define CAMERAINTERFACE_H #includeopencv2/opencv.hpp #includeiostream class CameraInterface { public: CameraInterface(); ~CameraInterface(); // ch:连接设备 virtual int connectCamera(std::string id)0; //设置是否为触发模式 virtual int setTriggerMode(unsigned int TriggerModeNum)0; //开启相机采集 virtual int startCamera()0; //关闭相机采集 virtual int stopCamera()0; //关闭相机 virtual int closeCamera()0; //软触发 virtual int softTrigger()0; //读取buffer virtual int ReadBuffer(cv::Mat image)0; //设置图像高度 virtual int setHeight(unsigned int height)0; //设置图像ROI宽度 virtual int setWidth(unsigned int width)0; //获取图像高度值 virtual int getHeight()0; //获取图像宽度值 virtual int getWidth()0; //获取相机曝光时间 virtual float getExposureTime()0; //设置图像水平偏移OffsetX virtual int setOffsetX(unsigned int offsetX)0; //设置图像竖直偏移OffsetY virtual int setOffsetY(unsigned int offsetY)0; //设置触发源 virtual int setTriggerSource(unsigned int TriggerSourceNum)0; //设置帧率控制使能 virtual int setFrameRateEnable(bool comm)0; //设置心跳时间 virtual int setHeartBeatTime(unsigned int time)0; //设置曝光时间 virtual int setExposureTime(float ExposureTimeNum)0; //关闭自动曝光 virtual int setExposureAuto(bool exposureAutoFlag)0; //关闭自动增益 virtual int setGainAuto(bool gainAutoFlag)0; //清理相机缓存 virtual void clearBuffer()0; }; #endif // CAMERAINTERFACE_Hcamerainterface.cpp#include camerainterface.h CameraInterface::CameraInterface() { } CameraInterface::~CameraInterface() { }hikvisionsdk.h#ifndef HIKVISIONSDK_H #define HIKVISIONSDK_H #includecamerainterface.h #includeMvCameraControl.h using namespace cv; class HikvisionSDK:public CameraInterface { public: HikvisionSDK(); ~HikvisionSDK(); // ch:连接设备 int connectCamera(std::string id); //设置是否为触发模式 int setTriggerMode(unsigned int TriggerModeNum); //开启相机采集 int startCamera(); //关闭相机采集 int stopCamera(); //关闭相机 int closeCamera(); //软触发 int softTrigger(); //读取buffer int ReadBuffer(cv::Mat image); //设置图像高度 int setHeight(unsigned int height); //设置图像ROI宽度 int setWidth(unsigned int width); //获取图像高度值 int getHeight(); //获取图像宽度值 int getWidth(); //获取相机曝光时间 float getExposureTime(); //设置图像水平偏移OffsetX int setOffsetX(unsigned int offsetX); //设置图像竖直偏移OffsetY int setOffsetY(unsigned int offsetY); //设置触发源 int setTriggerSource(unsigned int TriggerSourceNum); //设置帧率控制使能 int setFrameRateEnable(bool comm); //设置心跳时间 int setHeartBeatTime(unsigned int time); //设置曝光时间 int setExposureTime(float ExposureTimeNum); //关闭自动曝光 int setExposureAuto(bool exposureAutoFlag); //关闭自动增益 int setGainAuto(bool gainAutoFlag); //清理相机缓存 void clearBuffer(); // // 获取相机IP地址 // std::string getCameraIpAddress(); private: void* m_hDevHandle; public: // 用于保存图像的缓存 unsigned int m_nBufSizeForSaveImage; // 用于从驱动获取图像的缓存 unsigned int m_nBufSizeForDriver; }; #endif // HIKVISIONSDK_Hhikvisonsdk.cpp#include hikvisionsdk.h #include MvCameraControl.h 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_DeviceNULL; //设备对象 HikvisionSDK::HikvisionSDK() { m_hDevHandle NULL; } HikvisionSDK::~HikvisionSDK() { if (m_hDevHandle) { MV_CC_DestroyHandle(m_hDevHandle); m_hDevHandle NULL; } } //连接相机 int HikvisionSDK::connectCamera(std::string id) { //查询设备列表 int tempValueMV_CC_EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE, m_stDevList); if(tempValue!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.nDeviceNum0) //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; } if(pDeviceInfo-nTLayerTypeMV_USB_DEVICE) { if(id (char*)pDeviceInfo-SpecialInfo.stUsb3VInfo.chSerialNumber||id (char*)pDeviceInfo-SpecialInfo.stUsb3VInfo.chUserDefinedName||id (char*)pDeviceInfo-SpecialInfo.stUsb3VInfo.chSerialNumber||idPECVD) { m_Device m_stDevList.pDeviceInfo[i]; break; } } if(pDeviceInfo-nTLayerTypeMV_GIGE_DEVICE) { if(id (char*)pDeviceInfo-SpecialInfo.stUsb3VInfo.chSerialNumber||id (char*)pDeviceInfo-SpecialInfo.stGigEInfo.chUserDefinedName||id (char*)pDeviceInfo-SpecialInfo.stGigEInfo.chSerialNumber||idPECVD) { m_Device m_stDevList.pDeviceInfo[i]; break; } } continue; } if(m_DeviceNULL) { //未找到指定名称的相机 return 3; } tempValue MV_CC_CreateHandle(m_hDevHandle, m_Device); if(tempValue!0) return -1; tempValue MV_CC_OpenDevice(m_hDevHandle); if (tempValue!0) { MV_CC_DestroyHandle(m_hDevHandle); m_hDevHandle NULL; return -1; }else { setTriggerMode(1); return 0; } if (m_Device-nTLayerType MV_GIGE_DEVICE) { } if(m_Device-nTLayerType MV_USB_DEVICE) { MV_CC_SetImageNodeNum(m_hDevHandle,2); } } //启动相机采集 int HikvisionSDK::startCamera() { int tempValueMV_CC_StartGrabbing(m_hDevHandle); if(tempValue!0) { return -1; }else { return 0; } } //停止相机采集 int HikvisionSDK::stopCamera() { int tempValueMV_CC_StopGrabbing(m_hDevHandle); if(tempValue!0) { return -1; }else { return 0; } } //关闭相机 int HikvisionSDK::closeCamera() { if (NULL m_hDevHandle) { return -1; } MV_CC_CloseDevice(m_hDevHandle); int tempValue MV_CC_DestroyHandle(m_hDevHandle); m_hDevHandle NULL; if(tempValue!0) { return -1; }else { return 0; } } //发送软触发 int HikvisionSDK::softTrigger() { int tempValue MV_CC_SetCommandValue(m_hDevHandle, TriggerSoftware); if(tempValue!0) { return -1; }else { return 0; } } //读取相机中的图像 int HikvisionSDK::ReadBuffer(Mat image) { Mat* getImagenew Mat(); unsigned int nRecvBufSize 0; MVCC_INTVALUE stParam; memset(stParam, 0, sizeof(MVCC_INTVALUE)); int tempValue MV_CC_GetIntValue(m_hDevHandle, PayloadSize, stParam); if (tempValue ! 0) { return -1; } nRecvBufSize stParam.nCurValue; unsigned char* pDate; pDate(unsigned char *)malloc(nRecvBufSize); MV_FRAME_OUT_INFO_EX stImageInfo {0}; tempValue MV_CC_GetOneFrameTimeout(m_hDevHandle, pDate, nRecvBufSize, stImageInfo, 700); if(tempValue!0) { return -1; } m_nBufSizeForSaveImage stImageInfo.nWidth * stImageInfo.nHeight * 3 2048; unsigned char* m_pBufForSaveImage; m_pBufForSaveImage (unsigned char*)malloc(m_nBufSizeForSaveImage); bool isMono; switch (stImageInfo.enPixelType) { case PixelType_Gvsp_Mono8: case PixelType_Gvsp_Mono10: case PixelType_Gvsp_Mono10_Packed: case PixelType_Gvsp_Mono12: case PixelType_Gvsp_Mono12_Packed: isMonotrue; break; default: isMonofalse; break; } if(isMono) { *getImageMat(stImageInfo.nHeight,stImageInfo.nWidth,CV_8UC1,pDate); //imwrite(d:\\测试opencv_Mono.tif, image); } 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.pSrcData pDate; //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); *getImageMat(stImageInfo.nHeight,stImageInfo.nWidth,CV_8UC3,m_pBufForSaveImage); //imwrite(d:\\测试opencv_Color.tif, image); } (*getImage).copyTo(image); (*getImage).release(); free(pDate); free(m_pBufForSaveImage); return 0; } //获取图像高度值 int HikvisionSDK::getHeight() { MVCC_INTVALUE stParam; memset(stParam, 0, sizeof(MVCC_INTVALUE)); int tempValueMV_CC_GetIntValue(m_hDevHandle, Height, stParam); int value stParam.nCurValue; if(tempValue!0) { return -1; }else { return value; } } //获取图像宽度值 int HikvisionSDK::getWidth() { MVCC_INTVALUE stParam; memset(stParam, 0, sizeof(MVCC_INTVALUE)); int tempValueMV_CC_GetIntValue(m_hDevHandle, Width, stParam); int value stParam.nCurValue; if(tempValue!0) { return -1; }else { return value; } } //获取相机曝光时间 float HikvisionSDK::getExposureTime() { MVCC_FLOATVALUE stParam; memset(stParam, 0, sizeof(MVCC_INTVALUE)); int tempValueMV_CC_GetFloatValue(m_hDevHandle, ExposureTime, stParam); float value stParam.fCurValue; if(tempValue!0) { return -1; }else { return value; } } //设置图像ROI高度 int HikvisionSDK::setHeight(unsigned int height) { int tempValueMV_CC_SetIntValue(m_hDevHandle, Height, height); if(tempValue!0) { return -1; } else { return 0; } } //设置图像ROI宽度 int HikvisionSDK::setWidth(unsigned int width) { int tempValueMV_CC_SetIntValue(m_hDevHandle, Width, width); if(tempValue!0) { return -1; } else { return 0; } } //设置图像水平偏移OffsetX int HikvisionSDK::setOffsetX(unsigned int offsetX) { int tempValueMV_CC_SetIntValue(m_hDevHandle, OffsetX, offsetX); if(tempValue!0) { return -1; } else { return 0; } } //设置图像竖直偏移OffsetY int HikvisionSDK::setOffsetY(unsigned int offsetY) { int tempValueMV_CC_SetIntValue(m_hDevHandle, OffsetY, offsetY); if(tempValue!0) { return -1; } else { return 0; } } //设置是否为触发模式 int HikvisionSDK::setTriggerMode(unsigned int TriggerModeNum) { //0Off 1On int tempValue MV_CC_SetEnumValue(m_hDevHandle,TriggerMode, TriggerModeNum); if(tempValue!0) { return -1; }else { return 0; } } //设置触发源 int HikvisionSDK::setTriggerSource(unsigned int TriggerSourceNum) { //0Line0 1Line1 7Software int tempValue MV_CC_SetEnumValue(m_hDevHandle,TriggerSource, TriggerSourceNum); if(tempValue!0) { return -1; }else { return 0; } } //设置帧率控制使能 int HikvisionSDK::setFrameRateEnable(bool comm) { int tempValue MV_CC_SetBoolValue(m_hDevHandle, AcquisitionFrameRateEnable, comm); if (tempValue ! 0) { return -1; } else { return 0; } } //设置心跳时间 int HikvisionSDK::setHeartBeatTime(unsigned int time) { //心跳时间最小为500ms if(time500) time500; int tempValueMV_CC_SetIntValue(m_hDevHandle, GevHeartbeatTimeout, time); if(tempValue!0) { return -1; } else { return 0; } } //设置曝光时间 int HikvisionSDK::setExposureTime(float ExposureTimeNum) { int tempValue MV_CC_SetFloatValue(m_hDevHandle, ExposureTime,ExposureTimeNum ); if(tempValue!0) { return -1; } else { return 0; } } //关闭自动曝光 int HikvisionSDK::setExposureAuto(bool exposureAutoFlag) { int tempValue MV_CC_SetEnumValue(m_hDevHandle,ExposureAuto, exposureAutoFlag); if (tempValue ! 0) { return -1; } else { return 0; } } //关闭自动增益 int HikvisionSDK::setGainAuto(bool gainAutoFlag) { int tempValue MV_CC_SetEnumValue(m_hDevHandle,GainAuto, gainAutoFlag); if (tempValue ! 0) { return -1; } else { return 0; } } //清理相机缓存 void HikvisionSDK::clearBuffer() { //stopCamera(); //startCamera(); }先在widget构造里面初始化定时器// 初始化定时器 timer5 new QTimer(this); connect(timer5, QTimer::timeout, this, Widget::captureAndProcess);我是在widget.cpp里面的按钮里面实现连接的通过已修改的相机ID进行连接第二个相机也类似。// 连接相机 if(cameranullptr) { camera new HikvisionSDK(); // 连接相机 int connectResult camera-connectCamera(yzw123); std::cout Connect: connectResult std::endl; // 设置触发模式 std::cout TriggerMode: camera-setTriggerMode(1) std::endl; // 设置触发源为软触发 std::cout TriggerSource: camera-setTriggerSource(7) std::endl; // 设置曝光时间 std::cout SetExposureTime: camera-setExposureTime(40000) std::endl; // 判断 if (connectResult ! 0) { // 连接失败设为红色 ui-label_computer-setStyleSheet(background-color: red;); ui-label_computer-setText(Disconnected); ui-label_computer-setAlignment(Qt::AlignHCenter | Qt::AlignVCenter); delete camera; camera nullptr; //return; } // 开启相机采集 int startResult camera-startCamera(); std::cout Start_LocatCamera: startResult std::endl; if (startResult ! 0) { // 启动采集失败设为红色 ui-label_computer-setStyleSheet(background-color: red;); ui-label_computer-setText(Capture Fail); ui-label_computer-setAlignment(Qt::AlignHCenter | Qt::AlignVCenter); camera-closeCamera(); delete camera; camera nullptr; //return; } // 连接和采集均成功设为绿色 ui-label_computer-setStyleSheet(background-color: green;); ui-label_computer-setText(Connected); ui-label_computer-setAlignment(Qt::AlignHCenter | Qt::AlignVCenter); // 启动定时器50ms间隔 timer5-start(50); }通过定时器触发以及处理调用displayvoid Widget::captureAndProcess() { // 处理第一个相机 if (camera ! nullptr) { Mat* image new Mat(); if (camera-softTrigger() 0 camera-ReadBuffer(*image) 0) { display(image, ui-label1); // 显示到 label1 } delete image; } // 新增处理第二个相机 if (cameraOCR ! nullptr) { Mat* imageOCR new Mat(); if (cameraOCR-softTrigger() 0 cameraOCR-ReadBuffer(*imageOCR) 0) { OCRdisplay(imageOCR); // 显示到 label3label4 } delete imageOCR; } }在void Widget::display(const Mat* imagePtr, QLabel* targetLabel)里面因为图片比较暗就先进行了处理才显示不是原图显示。在这里还有一个保存图像到临时文件可以通过这个对图像进行处理操作比如边缘检测透视变换之类的。std::cout so the camera std::endl; // 调用增强对比度和亮度函数 cv::Mat enhancedImage locat.enhanceContrastAndBrightness(*imagePtr); // 新增保存增强后的图像到 locatimg 文件夹 QString locatDir QCoreApplication::applicationDirPath() /locatimg/; QDir().mkpath(locatDir); // 创建目录 QString timestamp QDateTime::currentDateTime().toString(yyyy.MM.dd.hh.mm); QString locatimgfile locatDir locat_ timestamp .jpg; cv::imwrite(locatimgfile.toStdString(), enhancedImage); // 保存增强后的图像 // 显示增强图像到 label1 QImage* QmyImage new QImage(); if (enhancedImage.channels() 1) { *QmyImage QImage(enhancedImage.data, enhancedImage.cols, enhancedImage.rows, enhancedImage.step, QImage::Format_RGB888).rgbSwapped(); } else { *QmyImage QImage(enhancedImage.data, enhancedImage.cols, enhancedImage.rows, enhancedImage.step, QImage::Format_Grayscale8); } *QmyImage QmyImage-scaled(targetLabel-size(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation); targetLabel-setPixmap(QPixmap::fromImage(*QmyImage)); delete QmyImage; // 保存原始图像到临时文件 std::string inputPath temp_input.jpg; cv::imwrite(inputPath, *imagePtr);最后在析构函数里面要清除相应的资源Widget::~Widget() { delete ui; if (timer5 ! nullptr) { timer5-stop(); delete timer5; } if (camera ! nullptr) { camera-closeCamera(); delete camera; } // 新增释放第二个相机资源 if (cameraOCR ! nullptr) { cameraOCR-closeCamera(); delete cameraOCR; } // 释放PLC snap7指针资源 if (snap7client ! nullptr) { snap7client-Disconnect(); // 可选确保断开连接 delete snap7client; } }结果出画面如下

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