Python 实现海康机器人工业相机的实时显示视频流及拍照功能(Linux)
代码是在ubuntu系统的orin nano 板子上跑的程序，有需要的大佬自行研究更改
支持 网口相机 和 usb口相机 并且理论上window和Linux通用但是我没有试windows平台
代码如下：
import sys
from ctypes import *
import os
import numpy as np
import time
import cv2
sys.path.append("./MvImport") #打开MVS中的MvImport文件,对于不同系统打开的文件路径跟随实际文件路径变化即可
from MvCameraControl_class import * #调用了MvCameraControl_class.py文件
class HKCamera():
def __init__(self, CameraIdx=0, log_path=None):
# enumerate all the camera devices
deviceList = self.enum_devices()
self.stop_capturing = False
# generate a camera instance
self.camera = self.open_camera(deviceList, CameraIdx, log_path)
self.start_camera()
def __del__(self):
# 结束循环取流
self.stop_capturing = True
# 关闭cv2窗口
cv2.destroyAllWindows()
if self.camera is None:
return
# 停止取流
ret = self.camera.MV_CC_StopGrabbing()
if ret != 0:
raise Exception("stop grabbing fail! ret[0x%x]" % ret)
# 关闭设备
ret = self.camera.MV_CC_CloseDevice()
if ret != 0:
raise Exception("close deivce fail! ret[0x%x]" % ret)
# 销毁句柄
ret = self.camera.MV_CC_DestroyHandle()
if ret != 0:
raise Exception("destroy handle fail! ret[0x%x]" % ret)
@staticmethod
def enum_devices(device=0, device_way=False):
"""
device = 0 枚举网口、USB口、未知设备、cameralink 设备
device = 1 枚举GenTL设备
"""
if device_way == False:
if device == 0:
cameraType = MV_GIGE_DEVICE | MV_USB_DEVICE | MV_UNKNOW_DEVICE | MV_1394_DEVICE | MV_CAMERALINK_DEVICE
deviceList = MV_CC_DEVICE_INFO_LIST()
# 枚举设备
ret = MvCamera.MV_CC_EnumDevices(cameraType, deviceList)
if ret != 0:
raise Exception("enum devices fail! ret[0x%x]" % ret)
return deviceList
else:
pass
elif device_way == True:
pass
def open_camera(self, deviceList, CameraIdx, log_path):
# generate a camera instance
camera = MvCamera()
# 选择设备并创建句柄
stDeviceList = cast(deviceList.pDeviceInfo[CameraIdx], POINTER(MV_CC_DEVICE_INFO)).contents
if log_path is not None:
ret = self.camera.MV_CC_SetSDKLogPath(log_path)
if ret != 0:
raise Exception("set Log path fail! ret[0x%x]" % ret)
# 创建句柄,生成日志
ret = camera.MV_CC_CreateHandle(stDeviceList)
if ret != 0:
raise Exception("create handle fail! ret[0x%x]" % ret)
else:
# 创建句柄,不生成日志
ret = camera.MV_CC_CreateHandleWithoutLog(stDeviceList)
if ret != 0:
raise Exception("create handle fail! ret[0x%x]" % ret)
if ret != 0:
raise Exception("Set BalanceWhiteAuto faill! ter[0x%x]" % ret)
# 打开相机
ret = camera.MV_CC_OpenDevice(MV_ACCESS_Exclusive, 0)
if ret != 0:
raise Exception("open device fail! ret[0x%x]" % ret)
# # 探测网络最佳包大小（只对GigE相机有效）
# if stDeviceList.nTLayerType == MV_GIGE_DEVICE:
# nPacketSize = camera.MV_CC_GetOptimalPacketSize()
# if int(nPacketSize)>0:
# ret = camera.MV_CC_SetIntValue("GevSCPSPacketSize",nPacketSize)
# if ret != 0:
# raise Exception("Warning: Set Packet Size faill! ret[0x%x]" % ret)
# else:
# raise Exception("Warning: Get Packet Size faill! ret[0x%x]" % nPacketSize)
# 设置触发模式为off
ret = camera.MV_CC_SetEnumValue("TriggerMode",MV_TRIGGER_MODE_OFF)
if ret != 0:
raise Exception("set TriggerMode fail! ret[0x%x]" % ret)
# 关闭自动曝光时间
ret = camera.MV_CC_SetEnumValue("ExposureAuto",MV_EXPOSURE_AUTO_MODE_OFF)
if ret != 0:
raise Exception("set ExposureAuto fail! ret[0x%x]" % ret)
# 自动增益 连续模式
ret = camera.MV_CC_SetEnumValue("GainAuto",MV_GAIN_MODE_CONTINUOUS)
if ret != 0:
raise Exception("set GainAuto fail! ret[0x%x]" % ret)
# 增益值 范围 0 - 23.98dB
# ret = camera.MV_CC_SetFloatValue("Gain",3)
# if ret != 0:
# raise Exception("set Gain fail! ret[0x%x]" % ret)
# 设置采集帧率 范围：0.1 - 100000
ret = camera.MV_CC_SetFloatValue("AcquisitionFrameRate", float(50.00))
if ret != 0:
raise Exception("Set AcquisitionFrameRate fail! ter[0x%x]" % ret)
# 设置曝光时间 范围 15 - 9999448
ret = camera.MV_CC_SetFloatValue("ExposureTime", float(800.00))
if ret != 0:
raise Exception("Set ExposureTime fail! ter[0x%x]" % ret)
# 设置自动白平衡
ret = camera.MV_CC_SetEnumValue("BalanceWhiteAuto", 1)
if ret !=0:
raise Exception("Set BalanceWhiteAuto fail! ret[0x%x]" % ret)
# 设置亮度 范围 0 - 255
ret = camera.MV_CC_SetIntValue("Brightness", 80)
if ret != 0:
raise Exception("Set Brightness fail! ret[0x%x]" % ret)
# 设置像素格式
ret = camera.MV_CC_SetEnumValue("PixelFormat", 0x02180014)
if ret != 0:
raise Exception("Set PixelFormat fail! ret[0x%x]" % ret)
return camera
def start_camera(self):
stParam = MVCC_INTVALUE()
memset(byref(stParam), 0, sizeof(MVCC_INTVALUE))
ret = self.camera.MV_CC_GetIntValue("PayloadSize", stParam)
if ret != 0:
raise Exception("get payload size fail! ret[0x%x]" % ret)
self.nDataSize = stParam.nCurValue
self.pData = (c_ubyte * self.nDataSize)()
self.stFrameInfo = MV_FRAME_OUT_INFO_EX()
memset(byref(self.stFrameInfo), 0, sizeof(self.stFrameInfo))
self.camera.MV_CC_StartGrabbing()
def get_Value(self, param_type, node_name):
"""
:param cam: 相机实例
:param_type: 获取节点值得类型
:param node_name: 节点名 可选 int 、float 、enum 、bool 、string 型节点
:return: 节点值
"""
if param_type == "int_value":
stParam = MVCC_INTVALUE_EX()
memset(byref(stParam), 0, sizeof(MVCC_INTVALUE_EX))
ret = self.camera.MV_CC_GetIntValueEx(node_name, stParam)
if ret != 0:
raise Exception("获取 int 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
return stParam.nCurValue
elif param_type == "float_value":
stFloatValue = MVCC_FLOATVALUE()
memset(byref(stFloatValue), 0, sizeof(MVCC_FLOATVALUE))
ret = self.camera.MV_CC_GetFloatValue(node_name, stFloatValue)
if ret != 0:
raise Exception("获取 float 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
return stFloatValue.fCurValue
elif param_type == "enum_value":
stEnumValue = MVCC_ENUMVALUE()
memset(byref(stEnumValue), 0, sizeof(MVCC_ENUMVALUE))
ret = self.camera.MV_CC_GetEnumValue(node_name, stEnumValue)
if ret != 0:
raise Exception("获取 enum 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
return stEnumValue.nCurValue
elif param_type == "bool_value":
stBool = c_bool(False)
ret = self.camera.MV_CC_GetBoolValue(node_name, stBool)
if ret != 0:
raise Exception("获取 bool 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
return stBool.value
elif param_type == "string_value":
stStringValue = MVCC_STRINGVALUE()
memset(byref(stStringValue), 0, sizeof(MVCC_STRINGVALUE))
ret = self.camera.MV_CC_GetStringValue(node_name, stStringValue)
if ret != 0:
raise Exception("获取 string 型数据 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
return stStringValue.chCurValue
else:
return None
def set_Value(self, param_type, node_name, node_value):
"""
:param cam: 相机实例
:param param_type: 需要设置的节点值得类型
int:
float:
enum: 参考于客户端中该选项的 Enum Entry Value 值即可
bool: 对应 0 为关，1 为开
string: 输入值为数字或者英文字符，不能为汉字
:param node_name: 需要设置的节点名
:param node_value: 设置给节点的值
:return:
"""
if param_type == "int_value":
ret = self.camera.MV_CC_SetIntValueEx(node_name, int(node_value))
if ret != 0:
raise Exception("设置 int 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
elif param_type == "float_value":
ret = self.camera.MV_CC_SetFloatValue(node_name, float(node_value))
if ret != 0:
raise Exception("设置 float 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
elif param_type == "enum_value":
ret = self.camera.MV_CC_SetEnumValue(node_name, node_value)
if ret != 0:
raise Exception("设置 enum 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
elif param_type == "bool_value":
ret = self.camera.MV_CC_SetBoolValue(node_name, node_value)
if ret != 0:
raise Exception("设置 bool 型数据节点 %s 失败 ！ 报错码 ret[0x%x]" % (node_name, ret))
elif param_type == "string_value":
ret = self.camera.MV_CC_SetStringValue(node_name, str(node_value))
if ret != 0:
raise Exception("设置 string 型数据节点 %s 失败 ! 报错码 ret[0x%x]" % (node_name, ret))
def set_exposure_time(self, exp_time):
self.set_Value(param_type="float_value", node_name="ExposureTime", node_value=float(exp_time))
# 获取曝光时间值
def get_exposure_time(self):
return self.get_Value(param_type="float_value", node_name="ExposureTime")
# 获取自动白平衡 1开启 0关闭
def get_balance_white_auto(self):
return self.get_Value(param_type="enum_value", node_name="BalanceWhiteAuto")
def get_image(self, width=None):
"""
:param cam: 相机实例
:active_way:主动取流方式的不同方法 分别是（getImagebuffer）（getoneframetimeout）
:return:
"""
ret = self.camera.MV_CC_GetOneFrameTimeout(self.pData, self.nDataSize, self.stFrameInfo, 1000)
if ret == 0:
# image = np.asarray(self.pData).reshape((self.stFrameInfo.nHeight, self.stFrameInfo.nWidth, 3))
image = np.array(self.pData)
image = image.reshape((self.stFrameInfo.nHeight,self.stFrameInfo.nWidth,3))
# image = np.asarray(self.pData).reshape((self.stFrameInfo.nHeight, self.stFrameInfo.nWidth,2))
if width is not None:
image = cv2.resize(image, (width, int(self.stFrameInfo.nHeight * width / self.stFrameInfo.nWidth)))
pass
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
return image
else:
return None
def show_runtime_info(self, image):
exp_time = self.get_exposure_time()
cv2.putText(image, ("exposure time = %1.1fms" % (exp_time * 0.001)), (20, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.5, 255, 1)
def saveImage(self,filename):
image = self.get_image()
cv2.imwrite('./images/'+filename+'.jpg',image)
def start(self):
# while not self.stop_capturing:
# image = camera.get_image(width=800)
# if image is not None:
# camera.show_runtime_info(image)
# cv2.imshow("", image)
try:
while True:
image = self.get_image(width=800)
if image is not None:
self.show_runtime_info(image)
cv2.imshow("", image)
key = cv2.waitKey(1) & 0xFF
if key == ord('q') or key == ord('Q'):
cv2.destroyAllWindows()
break
except Exception as e:
print(e)
if __name__ == '__main__':
camera = HKCamera()
# camera.saveImage()
print(camera.get_exposure_time())
# camera.set_exposure_time(1234)
# 42715.0
print(camera.get_balance_white_auto())
# camera.set_exposure_time(5000.0)
camera.start()
# try:
#
# while True:
# image = camera.get_image(width=800)
# if image is not None:
# camera.show_runtime_info(image)
# cv2.imshow("", image)
# key = cv2.waitKey(1) & 0xFF
# if key == ord('q') or key == ord('Q'):
# cv2.destroyAllWindows()
# break
# except Exception as e:
# print(e)
代码主要就是设置相机的一些参数、开启相机和取流使用cv2显示，代码中会开启一个cv2窗口程序来实时显示相机内容 按q关闭cv2窗口并停止程序 注意：记得引入sdk MvImport
我的路径如下图所示 复制到你的Python项目中并且引用
如果需要在web浏览器中实时查看的话代码如下：
# -- coding: utf-8 --
import cv2
from flask import Flask, render_template, Response, request
import sys
import datetime
import logging
sys.path.append("../camera") # 相机代码的路径如果相机跟web在一个目录下可以删除
sys.path.append("../camera/MvImport") # 跟上面一样
from Raspberry程序.camera_control import HKCamera
from MvCameraControl_class import *
from JsonResponse import *
from JsonFlask import *
camera = 0
logging.basicConfig(level=logging.DEBUG, # 控制台打印的日志级别
filename='hikrobot.log',
filemode='a', ##模式，有w和a，w就是写模式，每次都会重新写日志，覆盖之前的日志
# a是追加模式，默认如果不写的话，就是追加模式
format=
'%(asctime)s - %(pathname)s[line:%(lineno)d] - %(levelname)s: %(message)s'
# 日志格式
)
# 这里配置一下 template_folder为当前目录，不然可以找不到 index.html
app = JsonFlask(__name__, template_folder='.')
# index
@app.route('/')
def index():
return render_template('./templates/index.html')
# 获取码流
def gen(camera):
try:
while True:
global open
if(not open):
break;
frame = camera.get_image(800) # 可自定义大小
ret, jpeg = cv2.imencode('.jpg',frame)
if jpeg is None:
logging.error("jpeg is None")
continue
hpg_frame = jpeg.tobytes()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + hpg_frame + b'\r\n')
except Exception as e:
logging.error("generate error: %s" % str(e))
# 开始预览
@app.route('/startPreview')
def startPreview():
# 全局变量用于停止循环
global open
open = True
# 全局变量用于获取相机
global camera
camera = HKCamera()
if camera is None:
logging.error("can't open camera")
quit()
else:
logging.info("start to open camera")
logging.info("open camera ok")
logging.info("====================================")
return Response(gen(camera), mimetype='multipart/x-mixed-replace;boundary=frame')
# 停止预览
@app.route('/stopPreview')
def stopPreview():
global open
open = False
global camera
camera.__del__()
logging.info("camera closed successfully")
logging.info("====================================")
return JsonResponse.success()
# 执行web服务, 端口号可自行修订
logging.info("start to run camera app, current_time: " + str(datetime.datetime.now()))
app.run(host='0.0.0.0', port=65432, debug=True, threaded=True)
还有两个规范格式的文件：
JsonFlask.py
# -- coding: utf-8 --
from flask import Flask, jsonify
from JsonResponse import *
class JsonFlask(Flask):
def make_response(self, rv):
"""视图函数可以直接返回: list、dict、None"""
if rv is None or isinstance(rv, (list, dict)):
rv = JsonResponse.success(rv)
if isinstance(rv, JsonResponse):
rv = jsonify(rv.to_dict())
return super().make_response(rv)
JsonResponse.py
# -- coding: utf-8 --
class JsonResponse(object):
"""
统一的json返回格式
"""
def __init__(self, code, msg, data):
self.code = code
self.msg = msg
self.data = data
@classmethod
def success(cls, code=200, msg='success', data=None):
return cls(code, msg, data)
@classmethod
def error(cls, code=-1, msg='error', data=None):
return cls(code, msg, data)
def to_dict(self):
return {
"code": self.code,
"msg": self.msg,
"data": self.data
}
参考大佬 @龙凌云端 地址：https://www.cnblogs.com/miracle-luna/p/16960556.html 的代码
标签：node,web,Exception,MV,Python,self,ret,camera,Linux From： https://www.cnblogs.com/HanYork/p/17694125.html