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Ubuntu 连接海康智能相机步骤(亲测，已成功读码)

(就是按照海康的提供的步骤和源码连接相机，流水账)

1. 安装Ubuntu20.04
2. 安装gcc和g++，IDmvs只提供了C代码，所以需要自己make编译，自己去搜下怎么安装。
3. 官网下载IDMVS软件，进入海康机器人页面，进入下载选项，，选择客户端下载，第二页，选择里面的IDMVS(linux)
4. 解压安装，我是用deb文件安装的，选择X86_64版本。
5. 安装完成后，在菜单栏里面有IDMVS图标，可以直接打开，或者进入/opt/IDMVS/bin/,运行./IDMVS.sh，两种方法都能打开客户端。
6. 连接相机，如果没有找到相机你可以在windows上先连下相机试试，然后设定固定IP，连接相机
7. 连上之后，进入/opt/IDMVS/有个demo的文件夹，具体在哪里忘记了，可以找一下，
8. IDMVS只提供了两个demo，进入/GrabImage/目录下，应该只有两个文件，一个GrabImage.c，一个makefile。

10. 然后把上级目录下的/sdk/里面的.so文件放到/GrabImage/目录下。
11. 然后sudo make(如果你之前装好了g++和gcc，应该可以make成功)
12. 执行生成后的文件。./GrabImage，就OK了，选择你想要连接的相机。就能看到获取到的结果了。

以下是GrabImage.c的代码

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <pthread.h>#include <cstdlib>
#include <string>
#include <iconv.h>#include "MvCodeReaderParams.h"
#include "MvCodeReaderErrorDefine.h"
#include "MvCodeReaderCtrl.h"bool g_bExit = false;
// ch:中文转换条码长度定义 | en：Chinese coding format len
#define MAX_BCR_LEN  512// ch:中文编码GB2312格式转换UTF_8 | en: Chinese coding format GB2312 to utf_8
int GB2312ToUTF8(char* szSrc, size_t iSrcLen, char* szDst, size_t iDstLen)
{iconv_t cd = iconv_open("utf-8//IGNORE", "gb2312//IGNORE");if(0 == cd){return -2;  }memset(szDst, 0, iDstLen);char **src = &szSrc;char **dst = &szDst;if(-1 == (int)iconv(cd, src, &iSrcLen, dst, &iDstLen)){return -1; }iconv_close(cd);return 0;
}// ch:等待用户输入enter键来结束取流或结束程序
// en:wait for user to input enter to stop grabbing or end the sample program
void PressEnterToExit(void)
{int c;while ( (c = getchar()) != '\n' && c != EOF );fprintf( stderr, "\nPress Enter to exit.\n");while( getchar() != '\n');g_bExit = true;usleep(1);
}// ch:打印设备信息 | en:Print device Info
bool PrintDeviceInfo(MV_CODEREADER_DEVICE_INFO* pstMVDevInfo)
{if (NULL == pstMVDevInfo){printf("The Pointer of pstMVDevInfo is NULL!\r\n");return false;}if (MV_CODEREADER_GIGE_DEVICE == pstMVDevInfo->nTLayerType){int nIp1 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0xff000000) >> 24);int nIp2 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x00ff0000) >> 16);int nIp3 = ((pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x0000ff00) >> 8);int nIp4 = (pstMVDevInfo->SpecialInfo.stGigEInfo.nCurrentIp & 0x000000ff);// ch:打印当前相机ip和用户自定义名字 | en:print current ip and user defined nameprintf("CurrentIp: %d.%d.%d.%d\r\n" , nIp1, nIp2, nIp3, nIp4);printf("UserDefinedName: %s\r\n\n" , pstMVDevInfo->SpecialInfo.stGigEInfo.chUserDefinedName);}else if (MV_CODEREADER_USB_DEVICE == pstMVDevInfo->nTLayerType){printf("UserDefinedName: %s\r\n\n", pstMVDevInfo->SpecialInfo.stUsb3VInfo.chUserDefinedName);}else{printf("Not support.\r\n");}return true;
}// ch:获取图像线程 | en:Get Image Thread
static void* GrabImageThread(void* pUser)
{int nRet = MV_CODEREADER_OK;MV_CODEREADER_IMAGE_OUT_INFO_EX2 stImageInfo = {0};memset(&stImageInfo, 0, sizeof(MV_CODEREADER_IMAGE_OUT_INFO_EX2));unsigned char * pData = NULL;while(1){if (g_bExit){break;}nRet = MV_CODEREADER_GetOneFrameTimeoutEx2(pUser, &pData, &stImageInfo, 1000);if (nRet == MV_CODEREADER_OK){MV_CODEREADER_RESULT_BCR_EX* stBcrResult = (MV_CODEREADER_RESULT_BCR_EX*)stImageInfo.pstCodeListEx;printf("Get One Frame: nChannelID[%d] Width[%d], Height[%d], nFrameNum[%d], nTriggerIndex[%d]\n", stImageInfo.nChannelID, stImageInfo.nWidth, stImageInfo.nHeight, stImageInfo.nFrameNum, stImageInfo.nTriggerIndex);printf("CodeNum[%d]\n", stBcrResult->nCodeNum);char strChar[MAX_BCR_LEN] = {0};for (int i = 0; i < stBcrResult->nCodeNum; i++){memset(strChar, 0, MAX_BCR_LEN);nRet = GB2312ToUTF8(stBcrResult->stBcrInfoEx[i].chCode, strlen(stBcrResult->stBcrInfoEx[i].chCode), strChar, MAX_BCR_LEN);if (nRet == MV_CODEREADER_OK){printf("CodeNum[%d] Code[%s]\r\n", i, strChar);}else{printf("CodeNum[%d] Code[%s]\r\n", i, stBcrResult->stBcrInfoEx[i].chCode);}				}}else{printf("No data[0x%x]\r\n", nRet);}}return 0;}// ch:主处理函数 | en:main process
int main()
{int nRet = MV_CODEREADER_OK;void* handle = NULL;bool bIsNormalRun = true;do{MV_CODEREADER_DEVICE_INFO_LIST stDeviceList;memset(&stDeviceList, 0, sizeof(MV_CODEREADER_DEVICE_INFO_LIST));// ch:枚举设备 | Enum devicenRet = MV_CODEREADER_EnumDevices(&stDeviceList, MV_CODEREADER_GIGE_DEVICE);if (MV_CODEREADER_OK != nRet){printf("Enum Devices fail! nRet [%#x]\r\n", nRet);break;}else{printf("Enum Devices succeed!\r\n");}if (stDeviceList.nDeviceNum > 0){for (unsigned int i = 0; i < stDeviceList.nDeviceNum; i++){printf("[device %d]:\r\n", i);MV_CODEREADER_DEVICE_INFO* pDeviceInfo = stDeviceList.pDeviceInfo[i];if (NULL == pDeviceInfo){break;}PrintDeviceInfo(pDeviceInfo);}}else{printf("Find No Devices!\r\n");break;}printf("Please Intput camera index:");unsigned int nIndex = 0;scanf("%d", &nIndex);if (nIndex >= stDeviceList.nDeviceNum){printf("Intput error!\r\n");break;}// ch:选择设备并创建句柄 | Select device and create handlenRet = MV_CODEREADER_CreateHandle(&handle, stDeviceList.pDeviceInfo[nIndex]);if (MV_CODEREADER_OK != nRet){printf("Create Handle fail! nRet [%#x]\r\n", nRet);break;}else{printf("Create Handle succeed!\r\n");}// ch:打开设备 | Open devicenRet = MV_CODEREADER_OpenDevice(handle);if (MV_CODEREADER_OK != nRet){printf("Open Device fail! nRet [%#x]\r\n", nRet);break;}else{printf("Open Device succeed!\r\n");}// ch:设置触发模式为off | eb:Set trigger mode as offnRet = MV_CODEREADER_SetEnumValue(handle, "TriggerMode", MV_CODEREADER_TRIGGER_MODE_OFF);if (MV_CODEREADER_OK != nRet){printf("Set Trigger Mode fail! nRet [%#x]\r\n", nRet);break;}else{printf("Set Trigger Mode succeed!\r\n");}// ch:开始取流 | en:Start grab imagenRet = MV_CODEREADER_StartGrabbing(handle);if (MV_CODEREADER_OK != nRet){printf("Start Grabbing fail! nRet [%#x]\r\n", nRet);break;}else{printf("Start Grabbing succeed!\r\n");}pthread_t nThreadID;nRet = pthread_create(&nThreadID, NULL, GrabImageThread, handle);if (MV_CODEREADER_OK != nRet){printf("Thread create failed! nRet [%d]\r\n", nRet);break;}PressEnterToExit();nRet = pthread_join(nThreadID, NULL);if (MV_CODEREADER_OK != nRet){printf("Thread free failed! nRet = [%d]\r\n", nRet);bIsNormalRun = false;break;}// ch:停止取流 | en:Stop grab imagenRet = MV_CODEREADER_StopGrabbing(handle);if (MV_CODEREADER_OK != nRet){printf("Stop Grabbing fail! nRet [%#x]\r\n", nRet);bIsNormalRun = false;break;}else{printf("Stop Grabbing succeed!\r\n");}// ch:关闭设备 | en:close devicenRet = MV_CODEREADER_CloseDevice(handle);if (MV_CODEREADER_OK != nRet){printf("MV_CODEREADER_CloseDevice fail! nRet [%#x]\r\n", nRet);bIsNormalRun = false;break;}else{printf("MV_CODEREADER_CloseDevice succeed!\r\n");}// ch:销毁句柄 | en:Destroy handlenRet = MV_CODEREADER_DestroyHandle(handle);if (MV_CODEREADER_OK != nRet){printf("MV_CODEREADER_DestroyHandle fail! nRet [%#x]\r\n", nRet);bIsNormalRun = false;break;}else{handle = NULL;printf("MV_CODEREADER_DestroyHandle succeed!\r\n");}} while (0);if (handle != NULL){// ch:关闭设备 | en:Close device// ch:销毁句柄 | en:Destroy handleMV_CODEREADER_CloseDevice(handle);MV_CODEREADER_DestroyHandle(handle);handle = NULL;}if (bIsNormalRun){printf("Exit!\r\n");		}if (false == bIsNormalRun){PressEnterToExit();printf("Exit!\r\n");}return 0;}

输出的结果