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README
Apache-2.0
海康威视热成像双光谱MINI云台摄像

作者:苏凯
时间:2023 03-28
邮箱: 422168787@qq.com

  海康威视热成像双光谱MINI云台摄像ros驱动
  型号:DS-2TD5567T-7/W

  接口文档
       haikangdecte/dos/设备网络SDK编程指南(CVR).pdf
  设备网络SDK开发使用手册
       http://open.hikvision.com/hardware/definitions/NET_DVR_StartRemoteConfig_SMART.html
  实时数据预览表:
       https://open.hikvision.com/hardware/definitions/NET_DVR_RealPlay_V40.html?_blank
  错误码表:
       https://open.hikvision.com/hardware/definitions/NET_DVR_GetLastError.html
  web游览器访问云台:
       http://10.9.162.175/doc/page/login.asp?_1679903199358&page=preview
       帐号:admin
       密码:Admin123
ros驱动环境:
     系统:ubuntu
     ros:noetic
     opencv:4.5.0
编译:
    cd haikangdecte
    source  catkit_make_source.sh

启动云台ros节点
rosrun haikangdecte haikangdecte_node
python demo 调试
rosrun haikangdecte maindecte_text.py

rqt 调试
rosrun rqt_service_caller rqt_service_caller
   service 名称:  /maindecte_service
       消息类型:  maindecte_srvs/maindecte:
                        msgtype=500002 #消息类型
                        dwPTZCommand=23 #云台控制命令
                        dwStop=0  #0 开启 ,1 关闭
                        dwSpeed=1 #云台控制的速度 取值范围[1,7]


python demo原文件地址:
     maindecte_text.py
     haikangdecte/script/maindecte_text.py


视频消息toptic名称: /hikrobot/camera/image
            消息:   sensor_msgs/Image

---
msg消息:
maindecte_msgs/Msgdata
        string FilePath
        string filepath
        string OPT
        string task_id
        string sensor_id
        string x
        string y
        string dx
        string dy
        string resize_cotX
        string resize_cotY
        string msg
        string fPan
        string fTilt
        string fZoom
        string dwFocus
        string aperture
        string shutter
        string exposure
        string gain
        string data
        string CMD
        string Parameter
        string Direction
        string Speedlevel

---
srv消息:
    maindecte_srvs/maindecte
    int32 msgtype
    maindecte_msgs/Msgdata msgdata
    int32 dwPTZCommand
    int32 dwStop
    int32 dwSpeed
    ---
    string result
    string message
    maindecte_msgs/Msgdata result_msgdata

---
haikangdecte/src/consoleMain.cpp 主程序入口 main

---
#操作云台
start =0 #开启
stop =1  #关闭
# dwPTZCommand 含义
LIGHT_PWRON =2 #接通灯光电源
WIPER_PWRON =3 #接通雨刷开关
FAN_PWRON   =4 #接通风扇开关
HEATER_PWRON= 5 #接通加热器开关
AUX_PWRON1 =6 #接通辅助设备开关
AUX_PWRON2= 7 #接通辅助设备开关
ZOOM_IN =11 #焦距变大(倍率变大)67
#设备网络 SDK 编程指南
ZOOM_OUT =12 #焦距变小(倍率变小)
FOCUS_NEAR =13 #焦点前调
FOCUS_FAR =14 #焦点后调
IRIS_OPEN =15 #光圈扩大
IRIS_CLOSE =16 #光圈缩小
TILT_UP= 21 #云台上仰
TILT_DOWN =22 #云台下俯
PAN_LEFT= 23 #云台左转
PAN_RIGHT =24 #云台右转
UP_LEFT =25 #云台上仰和左转
UP_RIGHT =26 #云台上仰和右转
DOWN_LEFT =27 #云台下俯和左转
DOWN_RIGHT= 28 #云台下俯和右转
PAN_AUTO =29 #云台左右自动扫描




---
下载驱动
  海康威视提供了SDK下载中心,您可以在其中找到需要的SDK,包括 maindecte SDK。请按照以下步骤下载maindecte SDK:
      访问海康威视SDK下载中心:
       下载驱动
       https://www.hikvision.com/cn/products/Thermal/thermography/thermography-bullet-camera1/?category=热成像产品&subCategory=工业测温&series=测温云台&checkedSubSeries=双光谱测温中载云台
       硬件产品-设备网络sdk ->设备网络SDK_Linux64 V6.1.9.47_build202211
  请注意,您需要有海康威视的账户才能访问SDK下载中心并下载SDK。如果您没有账户,请先注册并登录。另外,使用SDK需要遵守海康威视的许可协议和条款。

---

环境部署:
---
opencv4.5一键脚本安装
注意:需要科学上网安装
qq交流群: 742679602
通过百度网盘分享的文件:opencv4.....0安装等3个文件
链接:https://pan.baidu.com/s/1RKcDhFyLTxAZztuJvzP7hw
提取码:1685
复制这段内容打开「百度网盘APP 即可获取」
解压码: 01524922
b站有 opencv4.5 视频教程
昵称:再遇咖啡

---
配置 .bashrc
需要把SDK的lib目录加入到环境变量中,否则会报错:  error while loading shared libraries: libAudioRender.so: cannot open shared object file: No such file or directory
参考:
export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH:/home/sukai/3rdparty/opencv4.5.0/build/install/lib:/usr/local/lib:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib/HCNetSDKCom"

---
报错:
error while loading shared libraries: libAudioRender.so: cannot open shared object file: No such file or directory
edit /home/sukai/.bashrc
加入
export LD_LIBRARY_PATH="/usr/lib/x86_64-linux-gnu:$LD_LIBRARY_PATH:/home/sukai/3rdparty/opencv4.5.0/build/install/lib:/usr/local/lib:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64:/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib/HCNetSDKCom"
 source /home/sukai/.bashrc
或
/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/src/consoleMain.cpp 2143

  //  NET_SDK_INIT_CFG_TYPE_CHECK_MODULE_COM = 0, //���ӶԱ����ļ�� 检查模块是否匹配的配置选项。
  //  NET_SDK_INIT_CFG_ABILITY = 1,   //SDK支持的行业能力配置选项。
  //  NET_SDK_INIT_CFG_SDK_PATH = 2,  //设置HCNetSDK的目录路径。
  //  NET_SDK_INIT_CFG_LIBEAY_PATH = 3, //设置OpenSSL中libeay32.dll/libcrypto.so/libcrypto.dylib文件的路径。
  //  NET_SDK_INIT_CFG_SSLEAY_PATH = 4  //设置OpenSSL中ssleay32.dll/libssl.so/libssl.dylib文件的路径。

    //todo 1.  sukai 海康摄像头SDK在Linux、windows下的兼容问题  == 代码放在 NET_DVR_Init() 之前
    //todo 2. =========       设置库 libcrypto.so  " 文件路径    ================
    NET_DVR_LOCAL_SDK_PATH ptrByteArrayCrypto = { 0 };
    strncpy(ptrByteArrayCrypto.sPath, "/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib/libcrypto.so", sizeof(ptrByteArrayCrypto.sPath) - 1);
    NET_DVR_SetSDKInitCfg(NET_SDK_INIT_CFG_TYPE::NET_SDK_INIT_CFG_LIBEAY_PATH,  &ptrByteArrayCrypto);//设置OpenSSL中libeay32.dll/libcrypto.so/libcrypto.dylib文件的路径。
    //todo 3. =========       设置库   libssl.so" 文件路径    ================

    NET_DVR_LOCAL_SDK_PATH ptrByteArraySsl = { 0 };
    strncpy(ptrByteArraySsl.sPath, "/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib/libssl.so", sizeof(ptrByteArraySsl.sPath) - 1);
    NET_DVR_SetSDKInitCfg(NET_SDK_INIT_CFG_TYPE::NET_SDK_INIT_CFG_SSLEAY_PATH,  &ptrByteArraySsl);//设置OpenSSL中libeay32.dll/libcrypto.so/libcrypto.dylib文件的路径。
    //todo 4. =========       设置库 HCNetSDKCom 文件路径    ================
    //String strPathCom = "/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib/HCNetSDKCom";
    NET_DVR_LOCAL_SDK_PATH struInitLib = { 0 };
    strncpy(struInitLib.sPath, "/home/sukai/workspace/workspace_ros_car_noetic/src/haikangdecte/linux64/lib", sizeof(struInitLib.sPath) - 1);
    // NET_DVR_SDKINIT_CFG_LOCAL_LIB
    NET_DVR_SetSDKInitCfg(NET_SDK_INIT_CFG_TYPE::NET_SDK_INIT_CFG_SDK_PATH,  &struInitLib); //设置HCNetSDK的目录路径。


---
不使用ros可用makefile编译
/home/shi/docker/workspace/haikangdecte/linux64/lib/proj
sudo  make clean
sudo   clean
make clean
make
启动:
./sdkTest
---
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简介

海康威视热成像双光谱MINI云台摄像ros驱动 型号:DS-2TD5567T-7/W 支持实时视频预览,实时视频转opencv,事实视频转ros消息,通过rviz预览 展开 收起
C 等 5 种语言
Apache-2.0
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