linux下Python调用海康SDK实时显示网络摄像头

逃离我推掉我的手 2022-05-19 10:50 1081阅读 0赞

# 1.安装OpenCV2.4.13（若已安装则可跳过） #

## 1.安装依赖项 ##

sudo apt-get update
    sudo apt-get install -y build-essential cmake git libopencv-dev libgtk2.0-dev pkg-config libavcodec-dev libpng12-dev libavformat-dev libswscale-dev yasm libxine2 libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libqt4-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils
    sudo apt-get install -y libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev libjasper-dev libdc1394-22-dev

## 2.下载[OpenCV2.4.13][] ##

[OpenCV2.4.13.5下载链接][OpenCV2.4.13]

## 3.编译安装OpenCV2.4.13 ##

mkdir build
    cd build
    # 精简版
    cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
    # cuda版
    cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_CUDA=ON -D ENABLE_FAST_MATH=ON -D CUDA_FAST_MATH=ON -D WITH_CUBLAS=1 -D WITH_NVCUVID=on -D CUDA_GENERATION=Auto ..
    make -j8
    sudo make install

## 4.配置环境变量 ##

新建配置文件

sudo gedit /etc/ld.so.conf.d/opencv.conf

输入下文保存

/usr/local/lib

使配置生效

sudo ldconfig

继续配置bash

sudo gedit /etc/bash.bashrc

*  输入下文保存

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
    export PKG_CONFIG_PATH

设置root密码（已设置可以跳过）

sudo passwd root

以后su进入root，Ctrl+D 或者输入exit退出root  
接着输入

source /etc/bash.bashrc  
    exit
    sudo updatedb

*  5.测试安装是否成功

// Display.cpp
    #include <stdio.h>  
    #include <opencv2/opencv.hpp>  
    #include <iostream>  
    using namespace cv;  
    
    int main()  
    {  
        Mat image = imread("timg_1.jpg", 1);  
        if (image.empty())  
        {  
            std::cout << "Image file is empty." << std::endl;  
            return -1;  
        }  
    
        namedWindow("Test");  
        imshow("Test", image);  
    
        waitKey(0);  
    
        return 0;  
    }

cmake文件CmakeLists.txt

cmake_minimum_required(VERSION 2.8)  
    project( Display )  
    find_package( OpenCV REQUIRED )  
    include_directories( ${OpenCV_INCLUDE_DIRS} )
    add_executable( Display Display.cpp )  
    target_link_libraries( Display ${OpenCV_LIBS} )

命令行输入

cmake .  //注意cmake后面是一个空格加一个黑点，这其实是cmake CMakeLists.txt的省略写法  
    make  
    ./Display lena.jpg  //任意图片，命名lena.jpg

若报错

CMake Warning at /home/e/OpenCV/cmake/OpenCVConfig.cmake:166 (message):
      Found OpenCV Windows Pack but it has no binaries compatible with your
      configuration.
    
    
      You should manually point CMake variable OpenCV_DIR to your build of OpenCV
      library.
    Call Stack (most recent call first):
      CMakeLists.txt:10 (find_package)
    
    
    
    
    CMake Error at CMakeLists.txt:10 (find_package):
      Found package configuration file:
    
    
        /home/e/OpenCV/cmake/OpenCVConfig.cmake
    
    
      but it set OpenCV_FOUND to FALSE so package "OpenCV" is considered to be
      NOT FOUND.

则find\_package前添加

include_directories( ${OpenCV_INCLUDE_DIRS} )
    # 或者
    set( OpenCV_FOUND 1 )
    # 或者
    set(OpenCV_DIR /home/***/opencv-2.4.13/build)

若报错

/usr/bin/ld: cannot find -lopencv_dep_cudart

则继续添加

set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)

# 2.安装Code::Blocks和swig #

sudo add-apt-repository ppa:damien-moore/codeblocks-stable
    sudo apt update
    sudo apt install codeblocks build-essential
    sudo apt-get install swig

# 3.使用swig生成接口文件 #

## 1.下载[OpenCV-swig接口文件][OpenCV-swig] ##

## 2.将接口文件lib文件夹下的文件与下面三个源文件放到一起 ##

//HKIPcamera.cpp
    #include <opencv2/opencv.hpp>
    #include <iostream>
    #include <time.h>
    #include <cstdio>
    #include <cstring>
    #include <iostream>
    #include <list>
    #include "HCNetSDK.h"
    #include "LinuxPlayM4.h"
    #include <unistd.h>
    #include <pthread.h>
    
    
    #define USECOLOR 1
    #define WINAPI
    
    
    using namespace cv;
    using namespace std;
    
    
    //--------------------------------------------
    int iPicNum = 0;//Set channel NO.
    LONG nPort = -1;
    HWND hWnd = NULL;
    pthread_mutex_t g_cs_frameList;
    list<Mat> g_frameList;
    LONG lUserID;
    NET_DVR_DEVICEINFO_V30 struDeviceInfo;
    LONG lRealPlayHandle = -1;
    
    
    void yv12toYUV(char *outYuv, char *inYv12, int width, int height, int widthStep)
    {
    int col, row;
    unsigned int Y, U, V;
    int tmp;
    int idx;
    
    
    //printf("widthStep=%d.\n",widthStep);
    
    
    for (row = 0; row<height; row++)
    {
    idx = row * widthStep;
    int rowptr = row*width;
    
    
    for (col = 0; col<width; col++)
    {
    //int colhalf=col>>1;
    tmp = (row / 2)*(width / 2) + (col / 2);
    //         if((row==1)&&( col>=1400 &&col<=1600))
    //         {
    //          printf("col=%d,row=%d,width=%d,tmp=%d.\n",col,row,width,tmp);
    //          printf("row*width+col=%d,width*height+width*height/4+tmp=%d,width*height+tmp=%d.\n",row*width+col,width*height+width*height/4+tmp,width*height+tmp);
    //         }
    Y = (unsigned int)inYv12[row*width + col];
    U = (unsigned int)inYv12[width*height + width*height / 4 + tmp];
    V = (unsigned int)inYv12[width*height + tmp];
    //         if ((col==200))
    //         {
    //         printf("col=%d,row=%d,width=%d,tmp=%d.\n",col,row,width,tmp);
    //         printf("width*height+width*height/4+tmp=%d.\n",width*height+width*height/4+tmp);
    //         return ;
    //         }
    if ((idx + col * 3 + 2)> (1200 * widthStep))
    {
    //printf("row * widthStep=%d,idx+col*3+2=%d.\n",1200 * widthStep,idx+col*3+2);
    }
    outYuv[idx + col * 3] = Y;
    outYuv[idx + col * 3 + 1] = U;
    outYuv[idx + col * 3 + 2] = V;
    }
    }
    //printf("col=%d,row=%d.\n",col,row);
    }
    
    
    
    
    //解码回调 视频为YUV数据(YV12)，音频为PCM数据
    void CALLBACK DecCBFun(int nPort, char * pBuf, int nSize, FRAME_INFO * pFrameInfo, void * nReserved1, int nReserved2)
    {
    long lFrameType = pFrameInfo->nType;
    
    
    if (lFrameType == T_YV12)
    {
    #if USECOLOR
    //int start = clock();
    static IplImage* pImgYCrCb = cvCreateImage(cvSize(pFrameInfo->nWidth, pFrameInfo->nHeight), 8, 3);//???????????????????Y????????????
    yv12toYUV(pImgYCrCb->imageData, pBuf, pFrameInfo->nWidth, pFrameInfo->nHeight, pImgYCrCb->widthStep);//????????????????RGB????????
    static IplImage* pImg = cvCreateImage(cvSize(pFrameInfo->nWidth, pFrameInfo->nHeight), 8, 3);
    cvCvtColor(pImgYCrCb, pImg, CV_YCrCb2RGB);
    //int end = clock();
    #else
    static IplImage* pImg = cvCreateImage(cvSize(pFrameInfo->nWidth, pFrameInfo->nHeight), 8, 1);
    memcpy(pImg->imageData, pBuf, pFrameInfo->nWidth*pFrameInfo->nHeight);
    #endif
    //printf("%d\n",end-start);
    
    
    //Mat frametemp(pImg), frame;
    
    
    //frametemp.copyTo(frame);
    //      cvShowImage("IPCamera",pImg);
    //      cvWaitKey(1);
    pthread_mutex_lock(&g_cs_frameList);
    Mat mat=cvarrToMat(pImg);
    g_frameList.push_back(mat);
    pthread_mutex_unlock(&g_cs_frameList);
    
    
    #if USECOLOR
    //      cvReleaseImage(&pImgYCrCb);
    //      cvReleaseImage(&pImg);
    #else
    /*cvReleaseImage(&pImg);*/
    #endif
    //此时是YV12格式的视频数据，保存在pBuf中，可以fwrite(pBuf,nSize,1,Videofile);
    //fwrite(pBuf,nSize,1,fp);
    }
    /***************
    else if (lFrameType ==T_AUDIO16)
    {
    //此时是音频数据，数据保存在pBuf中，可以fwrite(pBuf,nSize,1,Audiofile);
    
    
    }
    else
    {
    
    
    }
    *******************/
    
    
    }
    
    
    
    
    ///实时流回调
    void CALLBACK fRealDataCallBack(LONG lRealHandle, DWORD dwDataType, BYTE *pBuffer, DWORD dwBufSize, void *pUser)
    {
    DWORD dRet;
    switch (dwDataType)
    {
    case NET_DVR_SYSHEAD:    //系统头
    if (!PlayM4_GetPort(&nPort)) //获取播放库未使用的通道号
    {
    break;
    }
    if (dwBufSize > 0)
    {
    if (!PlayM4_OpenStream(nPort, pBuffer, dwBufSize, 1024 * 1024))
    {
    dRet = PlayM4_GetLastError(nPort);
    break;
    }
    //设置解码回调函数 只解码不显示
    if (!PlayM4_SetDecCallBack(nPort, DecCBFun))
    {
    dRet = PlayM4_GetLastError(nPort);
    break;
    }
    
    
    //设置解码回调函数 解码且显示
    //if (!PlayM4_SetDecCallBackEx(nPort,DecCBFun,NULL,NULL))
    //{
    //  dRet=PlayM4_GetLastError(nPort);
    //  break;
    //}
    
    
    //打开视频解码
    if (!PlayM4_Play(nPort, hWnd))
    {
    dRet = PlayM4_GetLastError(nPort);
    break;
    }
    
    
    //打开音频解码, 需要码流是复合流
    //          if (!PlayM4_PlaySound(nPort))
    //          {
    //              dRet=PlayM4_GetLastError(nPort);
    //              break;
    //          }     
    }
    break;
    
    
    case NET_DVR_STREAMDATA:   //码流数据
    if (dwBufSize > 0 && nPort != -1)
    {
    BOOL inData = PlayM4_InputData(nPort, pBuffer, dwBufSize);
    while (!inData)
    {
    sleep(10);
    inData = PlayM4_InputData(nPort, pBuffer, dwBufSize);
    cout << (L"PlayM4_InputData failed \n") << endl;
    }
    }
    break;
    }
    }
    
    
    void CALLBACK g_ExceptionCallBack(DWORD dwType, LONG lUserID, LONG lHandle, void *pUser)
    {
    char tempbuf[256] = { 0 };
    switch (dwType)
    {
    case EXCEPTION_RECONNECT:    //预览时重连
    printf("----------reconnect--------%d\n", time(NULL));
    break;
    default:
    break;
    }
    }
    
    
    bool OpenCamera(char* ip, char* usr, char* password)
    {
    lUserID = NET_DVR_Login_V30(ip, 8000, usr, password, &struDeviceInfo);
    if (lUserID == 0)
    {
    cout << "Log in success!" << endl;
    return TRUE;
    }
    else
    {
    printf("Login error, %d\n", NET_DVR_GetLastError());
    NET_DVR_Cleanup();
    return FALSE;
    }
    }
    void * ReadCamera(void* IpParameter)
    {
    //---------------------------------------
    //设置异常消息回调函数
    NET_DVR_SetExceptionCallBack_V30(0, NULL, g_ExceptionCallBack, NULL);
    
    
    //cvNamedWindow("Mywindow", 0);
    //cvNamedWindow("IPCamera", 0);
    
    
    //HWND  h = (HWND)cvGetWindowHandle("Mywindow");
    //h = cvNamedWindow("IPCamera");
    //---------------------------------------
    //启动预览并设置回调数据流 
    NET_DVR_CLIENTINFO ClientInfo;
    ClientInfo.lChannel = 1;        //Channel number 设备通道号
    ClientInfo.hPlayWnd = NULL;     //窗口为空，设备SDK不解码只取流
    ClientInfo.lLinkMode = 1;       //Main Stream
    ClientInfo.sMultiCastIP = NULL;
    
    
    LONG lRealPlayHandle;
    lRealPlayHandle = NET_DVR_RealPlay_V30(lUserID, &ClientInfo, fRealDataCallBack, NULL, TRUE);
    if (lRealPlayHandle<0)
    {
    printf("NET_DVR_RealPlay_V30 failed! Error number: %d\n", NET_DVR_GetLastError());
    //return -1;
    }
    else
    cout << "码流回调成功！" << endl;
    sleep(-1);
    //fclose(fp);
    //---------------------------------------
    //关闭预览
    if (!NET_DVR_StopRealPlay(lRealPlayHandle))
    {
    printf("NET_DVR_StopRealPlay error! Error number: %d\n", NET_DVR_GetLastError());
    return 0;
    }
    //注销用户
    NET_DVR_Logout(lUserID);
    NET_DVR_Cleanup();
    //return 0;
    }
    
    
    
    
    void init(char* ip, char* usr, char* password){
    pthread_t hThread;
    cout << "IP:" << ip << "    UserName:" << usr << "    PassWord:" << password << endl;
    NET_DVR_Init();
    NET_DVR_SetConnectTime(2000, 1);
    NET_DVR_SetReconnect(10000, true);
    OpenCamera(ip, usr, password);
    pthread_mutex_init(&g_cs_frameList, NULL);
    //hThread = ::CreateThread(NULL, 0, ReadCamera, NULL, 0, 0);
    pthread_create(&hThread, NULL, ReadCamera, NULL);
    }
    
    
    Mat getframe(){
    Mat frame1;
    pthread_mutex_lock(&g_cs_frameList);
    while (!g_frameList.size()){
    pthread_mutex_unlock(&g_cs_frameList);
    pthread_mutex_lock(&g_cs_frameList);
    }
    list<Mat>::iterator it;
    it = g_frameList.end();
    it--;
    Mat dbgframe = (*(it));
    (*g_frameList.begin()).copyTo(frame1);
    frame1 = dbgframe;
    g_frameList.pop_front();
    //imshow("camera", frame1);
    //waitKey(1);
    
    
    g_frameList.clear();
    pthread_mutex_unlock(&g_cs_frameList);
    return(frame1);
    }
    
    
    void release(){
    //close(hThread);
    NET_DVR_StopRealPlay(lRealPlayHandle);
    //注销用户
    NET_DVR_Logout(lUserID);
    NET_DVR_Cleanup();
    }

//HKIPcamera.h
    #include <opencv2/opencv.hpp>
    using namespace cv;
    
    
    void init(char* ip, char* usr, char* password);
    Mat getframe();
    void release();

// HKIPcamera.i
    /*  Example of wrapping a C function that takes a C double array as input using
     *  numpy typemaps for SWIG. */
    %module HKIPcamera
    %include <opencv/mat.i>
    %cv_mat__instantiate_defaults
    %header %{
        /*  Includes the header in the wrapper code */
        #include "HKIPcamera.h"
    %}
    
    
    %include "HKIPcamera.h"

## 3.命令行输入下面命令生成HKIPcamera\_wrap.cxx文件（cd到源文件文件夹下，opencv路径改成自己的路径） ##

swig -I/home/xxx/opencv-2.4.13/modules/core/include/ -python -c++ HKIPcamera.i

# 3.编译动态链接库 #

codeblocks建立动态链接库工程，右键工程-Add files，将HKIPcameracpp,HKIPcamera.h,HKIPcamera\_wrap.cxx加入到工程。

--------------------

然后我们在codeblocks已经建好的工程下右键——Build options——Linker settings——linker libraries中添加opencv的所有so文件（为防万一，全部导入，当然也可以导入自己用的部分），如下图所示（so文件在安装好的opencv目录中的release或者buid中的lib目录下）：  
![添加so结果][so]  
添加海康SDK中的所有so文件CH\_HCNetSDK\_Linux64/lib 以及CH\_HCNetSDK\_Linux64/lib/HCNetSDKCom下的所有so文件

--------------------

然后在project – build option – search directories – Compiler中添加/usr/local/include/ 、/usr/local/include/opencv、/usr/local/include/opencv2三个OpenCV头文件路径以及海康SDK头文件路径CH\_HCNetSDK\_Linux64/incCn

project – build option – search directories – Linker中添加 /usr/local/lib路径

project – build option – Compiler settings – Other compiler options 添加 -fPIC

--------------------

主界面 – Settings – Compiler settings – linker settings – linker libraries 添加 /usr/lib/x86\_64-linux-gnu/libpthread.a 右边 other linker options 添加 -lpthread，如下图所示：  
![效果][SouthEast]

--------------------

将HKIPcamera动态链接库地址添加进系统路径  
在/etc/ld.so.conf文件结尾添加网络sdk库的路径，如/XXX和/XXX/HCNetSDKCom/，保存之后，然后执行ldconfig

sudo gedit /etc/ld.so.conf
    # 末尾添加
    CH_HCNetSDK_Linux64/lib  #根据自己的so保存路径改变
    CH_HCNetSDK_Linux64/lib/HCNetSDKCom
    # 保存退出
    sudo ldconfig

--------------------

最后右键工程build或者rebuild，就会在工程目录下HKIPcamera/bin/Release或者Debug生成liblibHKIPcamera.so动态链接库文件

## 4.测试 ##

将liblibHKIPcamera.so改名为\_HKIPcamera.so，与步骤2.3生成的HKIPcamera.py文件一同放到test文件夹，新建test.py文件，输入：

import HKIPcamera
    import time
    import numpy as np
    import matplotlib.pyplot as plt
    import cv2
    
    
    ip = str('192.168.2.64')  # 摄像头IP地址，要和本机IP在同一局域网
    name = str('admin')       # 管理员用户名
    pw = str('123456')        # 管理员密码
    HKIPcamera.init(ip, name, pw)
    # HKIPcamera.getfram()
    for i in range(100):
        t = time.time()
        fram = HKIPcamera.getframe()
        t2 = time.time()
        cv2.imshow('123', np.array(fram))
        cv2.waitKey(1)
        print(t2-t)
        time.sleep(0.1)
    HKIPcamera.release()
    time.sleep(5)
    HKIPcamera.init(ip, name, pw)
    # HKIPcamera.getfram()
    for i in range(100):
        t = time.time()
        fram = HKIPcamera.getframe()
        t2 = time.time()
        cv2.imshow('123', np.array(fram))
        cv2.waitKey(1)
        print(t2-t)
        time.sleep(0.1)
    HKIPcamera.release()

[OpenCV2.4.13]: https://github.com/opencv/opencv/archive/2.4.13.5.zip
[OpenCV-swig]: https://github.com/renatoGarcia/opencv-swig
[so]: /images/20220519/c22a5383860340f49736e3d5cb876623.png
[SouthEast]: /images/20220519/fb736cd965cb43aa91ef9054708185c1.png