linux下Python調用海康SDK實時顯示網絡攝像頭

1.安裝OpenCV2.4.13（若已安裝則可跳過）

1.安裝依賴項

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.下載OpenCV2.4.13

OpenCV2.4.13.5下載鏈接

3.編譯安裝OpenCV2.4.13

mkdir build
cd build
# 精簡版
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.配置環境變量

新建配置文件

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

輸入下文保存

/usr/local/lib   

使配置生效

sudo ldconfig

繼續配置bash

sudo gedit /etc/bash.bashrc  

輸入下文保存

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

設置root密碼（已設置可以跳過）

sudo passwd root  

以後su進入root，Ctrl+D 或者輸入exit退出root
接着輸入

source /etc/bash.bashrc  
exit
sudo updatedb

5.測試安裝是否成功

// 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} ) 

命令行輸入

cmake .  //注意cmake後面是一個空格加一個黑點，這其實是cmake CMakeLists.txt的省略寫法  
make  
./Display lena.jpg  //任意圖片，命名lena.jpg  

若報錯

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.

則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)

若報錯

/usr/bin/ld: cannot find -lopencv_dep_cudart 

則繼續添加

set(CUDA_USE_STATIC_CUDA_RUNTIME OFF)  

2.安裝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.下載OpenCV-swig接口文件

2.將接口文件lib文件夾下的文件與下面三個源文件放到一起

//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);
}




//解碼回調 視頻爲YUV數據(YV12)，音頻爲PCM數據
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
//此時是YV12格式的視頻數據，保存在pBuf中，可以fwrite(pBuf,nSize,1,Videofile);
//fwrite(pBuf,nSize,1,fp);
}
/***************
else if (lFrameType ==T_AUDIO16)
{
//此時是音頻數據，數據保存在pBuf中，可以fwrite(pBuf,nSize,1,Audiofile);


}
else
{


}
*******************/


}




///實時流回調
void CALLBACK fRealDataCallBack(LONG lRealHandle, DWORD dwDataType, BYTE *pBuffer, DWORD dwBufSize, void *pUser)
{
DWORD dRet;
switch (dwDataType)
{
case NET_DVR_SYSHEAD:    //系統頭
if (!PlayM4_GetPort(&nPort)) //獲取播放庫未使用的通道號
{
break;
}
if (dwBufSize > 0)
{
if (!PlayM4_OpenStream(nPort, pBuffer, dwBufSize, 1024 * 1024))
{
dRet = PlayM4_GetLastError(nPort);
break;
}
//設置解碼回調函數 只解碼不顯示
if (!PlayM4_SetDecCallBack(nPort, DecCBFun))
{
dRet = PlayM4_GetLastError(nPort);
break;
}


//設置解碼回調函數 解碼且顯示
//if (!PlayM4_SetDecCallBackEx(nPort,DecCBFun,NULL,NULL))
//{
//  dRet=PlayM4_GetLastError(nPort);
//  break;
//}


//打開視頻解碼
if (!PlayM4_Play(nPort, hWnd))
{
dRet = PlayM4_GetLastError(nPort);
break;
}


//打開音頻解碼, 需要碼流是複合流
//          if (!PlayM4_PlaySound(nPort))
//          {
//              dRet=PlayM4_GetLastError(nPort);
//              break;
//          }     
}
break;


case NET_DVR_STREAMDATA:   //碼流數據
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:    //預覽時重連
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)
{
//---------------------------------------
//設置異常消息回調函數
NET_DVR_SetExceptionCallBack_V30(0, NULL, g_ExceptionCallBack, NULL);


//cvNamedWindow("Mywindow", 0);
//cvNamedWindow("IPCamera", 0);


//HWND  h = (HWND)cvGetWindowHandle("Mywindow");
//h = cvNamedWindow("IPCamera");
//---------------------------------------
//啓動預覽並設置回調數據流 
NET_DVR_CLIENTINFO ClientInfo;
ClientInfo.lChannel = 1;        //Channel number 設備通道號
ClientInfo.hPlayWnd = NULL;     //窗口爲空，設備SDK不解碼只取流
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 << "碼流回調成功！" << endl;
sleep(-1);
//fclose(fp);
//---------------------------------------
//關閉預覽
if (!NET_DVR_StopRealPlay(lRealPlayHandle))
{
printf("NET_DVR_StopRealPlay error! Error number: %d\n", NET_DVR_GetLastError());
return 0;
}
//註銷用戶
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);
//註銷用戶
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.命令行輸入下面命令生成HKIPcamera_wrap.cxx文件（cd到源文件文件夾下，opencv路徑改成自己的路徑）

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

3.編譯動態鏈接庫

codeblocks建立動態鏈接庫工程，右鍵工程-Add files，將HKIPcameracpp,HKIPcamera.h,HKIPcamera_wrap.cxx加入到工程。

---

然後我們在codeblocks已經建好的工程下右鍵——Build options——Linker settings——linker libraries中添加opencv的所有so文件（爲防萬一，全部導入，當然也可以導入自己用的部分），如下圖所示（so文件在安裝好的opencv目錄中的release或者buid中的lib目錄下）：

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

---

然後在project – build option – search directories – Compiler中添加/usr/local/include/ 、/usr/local/include/opencv、/usr/local/include/opencv2三個OpenCV頭文件路徑以及海康SDK頭文件路徑CH_HCNetSDK_Linux64/incCn

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

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 右邊 other linker options 添加 -lpthread，如下圖所示：

---

將HKIPcamera動態鏈接庫地址添加進系統路徑
在/etc/ld.so.conf文件結尾添加網絡sdk庫的路徑，如/XXX和/XXX/HCNetSDKCom/，保存之後，然後執行ldconfig

sudo gedit /etc/ld.so.conf
# 末尾添加
CH_HCNetSDK_Linux64/lib  #根據自己的so保存路徑改變
CH_HCNetSDK_Linux64/lib/HCNetSDKCom
# 保存退出
sudo ldconfig

---

最後右鍵工程build或者rebuild，就會在工程目錄下HKIPcamera/bin/Release或者Debug生成liblibHKIPcamera.so動態鏈接庫文件

4.測試

將liblibHKIPcamera.so改名爲_HKIPcamera.so，與步驟2.3生成的HKIPcamera.py文件一同放到test文件夾，新建test.py文件，輸入：

import HKIPcamera
import time
import numpy as np
import matplotlib.pyplot as plt
import cv2


ip = str('192.168.2.64')  # 攝像頭IP地址，要和本機IP在同一局域網
name = str('admin')       # 管理員用戶名
pw = str('123456')        # 管理員密碼
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()