硬件型号：海康MV-CU013-AUOM（USB3.0连接）工业相机
软件配置：按照官方教程安装软件，软件链接：
https://www.hikrobotics.com/cn/machinevision/service/download/?module=0
我安装的是MVS V5.0.1（windows）客户端
接好相机，我是将客户端（SDK）的相关配置文件都安装在了D盘，
之后进入软件做一下参数调节：（可以参考教程视频简单调节一下参数）
我这里设定的参数如下，曝光时间10000us，采集帧率30fps，增益16.3704（可以自动增益），不调节参数的话，初始相机画面是黑的，调节完参数保存一个用户集，下次打开相机就不需要再调节了
紧接着，找到之前安装客户端配置文件夹MVS，参照如下路径找到支持python调用的（底层文件夹）MvImport
D:\MVS\Development\Samples\Python\MvImport
找到后，将MvImport文件夹整个复制粘贴到桌面，并在桌面的MvImport文件夹中新建一个py文件，将如下代码放入，配置好需要的环境，运行代码即可调用相机（提示为英文格式下按s键开始录制，按q键退出文件夹并将视频保存到相应路径下）
python
# -*- coding: utf-8 -*-
"""
海康 MV-CU013-AOUM USB3.0 相机视频录制脚本
===========================================
按键控制：
- 按 's' 键：开始/停止录制
- 按 'q' 键：退出程序
视频保存路径：桌面/1/
"""
import sys
import os
import time
import ctypes
from ctypes import *
from datetime import datetime
# ============================================================
# 1. 配置 DLL 搜索路径（必须在导入 MVS 模块之前完成）
# ============================================================
_MVS_RUNTIME_DIR = r"C:\Program Files (x86)\Common Files\MVS\Runtime\Win64_x64"#-----------MVS客户端安装完成后，该代码会自动找到C盘的.dll驱动文件
if not os.path.isdir(_MVS_RUNTIME_DIR):
raise FileNotFoundError(f"MVS Runtime 目录不存在: {_MVS_RUNTIME_DIR}")
# 方法1：os.add_dll_directory (Python 3.8+, 向进程 DLL 搜索路径添加目录)
if hasattr(os, 'add_dll_directory'):
os.add_dll_directory(_MVS_RUNTIME_DIR)
print(f"[INFO] add_dll_directory: {_MVS_RUNTIME_DIR}")
# 方法2：通过 ctypes 调用 Windows API 直接设置 DLL 搜索路径
_kernel32 = ctypes.WinDLL('kernel32', use_last_error=True)
# SetDllDirectoryW: 添加一个目录到 DLL 搜索路径
_kernel32.SetDllDirectoryW(_MVS_RUNTIME_DIR)
print(f"[INFO] SetDllDirectoryW: {_MVS_RUNTIME_DIR}")
# 方法3：手动预加载 MvCameraControl.dll（完整路径），ctypes 会缓存已加载的 DLL
_dll_full_path = os.path.join(_MVS_RUNTIME_DIR, "MvCameraControl.dll")
try:
_preload = ctypes.WinDLL(_dll_full_path)
print(f"[INFO] 已预加载: {_dll_full_path}")
except Exception as e:
print(f"[WARN] 预加载失败: {e}，将尝试后续方法")
# ============================================================
# 2. 添加 MvImport 到 sys.path
# ============================================================
_MVIMPORT_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "MvImport")
if _MVIMPORT_DIR not in sys.path:
sys.path.append(_MVIMPORT_DIR)
import numpy as np
import cv2
from MvCameraControl_class import *
from MvErrorDefine_const import *
from CameraParams_const import *
from CameraParams_header import *
from PixelType_header import *
# ============================================================
# 3. 配置输出路径
# ============================================================
_OUTPUT_DIR = os.path.join(os.path.expanduser("~"), "Desktop", "1")#-----------可以自行设定保存路径，目前是在Desktop（桌面）生成名称为1的文件夹，并将录制的视频保存在该文件夹中
os.makedirs(_OUTPUT_DIR, exist_ok=True)
print(f"[INFO] 视频输出目录: {_OUTPUT_DIR}")
# ============================================================
# 4. 辅助函数
# ============================================================
def decode_char_array(char_array):
"""安全地从 ctypes 字符数组中解码出字符串"""
byte_str = memoryview(char_array).tobytes()
null_idx = byte_str.find(b'\x00')
if null_idx != -1:
byte_str = byte_str[:null_idx]
for enc in ['gbk', 'utf-8', 'latin-1']:
try:
return byte_str.decode(enc)
except UnicodeDecodeError:
continue
return byte_str.decode('latin-1', errors='replace')
def is_mono_pixel(pixel_type):
"""判断是否为黑白像素格式"""
return pixel_type in (
PixelType_Gvsp_Mono8, PixelType_Gvsp_Mono10,
PixelType_Gvsp_Mono10_Packed, PixelType_Gvsp_Mono12,
PixelType_Gvsp_Mono12_Packed, PixelType_Gvsp_Mono14,
PixelType_Gvsp_Mono16,
)
def is_hb_pixel(pixel_type):
"""判断是否为 HB (High Bandwidth) 像素格式"""
return pixel_type in (
PixelType_Gvsp_HB_Mono8, PixelType_Gvsp_HB_Mono10,
PixelType_Gvsp_HB_Mono10_Packed, PixelType_Gvsp_HB_Mono12,
PixelType_Gvsp_HB_Mono12_Packed, PixelType_Gvsp_HB_Mono16,
PixelType_Gvsp_HB_RGB8_Packed, PixelType_Gvsp_HB_BGR8_Packed,
PixelType_Gvsp_HB_RGBA8_Packed, PixelType_Gvsp_HB_BGRA8_Packed,
PixelType_Gvsp_HB_BayerGR8, PixelType_Gvsp_HB_BayerRG8,
PixelType_Gvsp_HB_BayerGB8, PixelType_Gvsp_HB_BayerBG8,
PixelType_Gvsp_HB_BayerRBGG8,
PixelType_Gvsp_HB_BayerGR10, PixelType_Gvsp_HB_BayerGR10_Packed,
PixelType_Gvsp_HB_BayerRG10, PixelType_Gvsp_HB_BayerRG10_Packed,
PixelType_Gvsp_HB_BayerGB10, PixelType_Gvsp_HB_BayerGB10_Packed,
PixelType_Gvsp_HB_BayerBG10, PixelType_Gvsp_HB_BayerBG10_Packed,
PixelType_Gvsp_HB_BayerGR12, PixelType_Gvsp_HB_BayerGR12_Packed,
PixelType_Gvsp_HB_BayerRG12, PixelType_Gvsp_HB_BayerRG12_Packed,
PixelType_Gvsp_HB_BayerGB12, PixelType_Gvsp_HB_BayerGB12_Packed,
PixelType_Gvsp_HB_BayerBG12, PixelType_Gvsp_HB_BayerBG12_Packed,
)
# ============================================================
# 5. 主程序
# ============================================================
def main():
cam = None
video_writer = None
recording = False
try:
# --- 5a. 初始化 SDK ---
ret = MvCamera.MV_CC_Initialize()
if ret != MV_OK:
raise Exception(f"SDK 初始化失败! ret[0x{ret:x}]")
sdk_ver = MvCamera.MV_CC_GetSDKVersion()
print(f"[INFO] SDK 版本: 0x{sdk_ver:08x}")
# --- 5b. 枚举 USB 设备 ---
device_list = MV_CC_DEVICE_INFO_LIST()
tlayer_type = MV_USB_DEVICE | MV_GIGE_DEVICE
ret = MvCamera.MV_CC_EnumDevices(tlayer_type, device_list)
if ret != MV_OK:
raise Exception(f"设备枚举失败! ret[0x{ret:x}]")
if device_list.nDeviceNum == 0:
raise Exception("未找到任何设备，请检查相机连接!")
print(f"[INFO] 找到 {device_list.nDeviceNum} 个设备")
# 列出所有设备
usb_indices = []
for i in range(device_list.nDeviceNum):
dev_info = cast(device_list.pDeviceInfo[i], POINTER(MV_CC_DEVICE_INFO)).contents
if dev_info.nTLayerType == MV_USB_DEVICE:
usb_info = dev_info.SpecialInfo.stUsb3VInfo
model = decode_char_array(usb_info.chModelName)
serial = decode_char_array(usb_info.chSerialNumber)
print(f" [{i}] USB 设备: {model} (SN: {serial})")
usb_indices.append(i)
elif dev_info.nTLayerType == MV_GIGE_DEVICE:
ge_info = dev_info.SpecialInfo.stGigEInfo
model = decode_char_array(ge_info.chModelName)
print(f" [{i}] GigE 设备: {model}")
# 优先选择 USB 设备（CU013 是 USB 相机）
if usb_indices:
connect_idx = usb_indices[0]
else:
connect_idx = 0
print(f"[INFO] 将连接设备 [{connect_idx}]")
# --- 5c. 创建句柄 & 打开设备 ---
cam = MvCamera()
st_dev_info = cast(device_list.pDeviceInfo[connect_idx], POINTER(MV_CC_DEVICE_INFO)).contents
ret = cam.MV_CC_CreateHandle(st_dev_info)
if ret != MV_OK:
raise Exception(f"创建句柄失败! ret[0x{ret:x}]")
ret = cam.MV_CC_OpenDevice(MV_ACCESS_Exclusive, 0)
if ret != MV_OK:
raise Exception(f"打开设备失败! ret[0x{ret:x}]")
print("[INFO] 设备已打开")
# --- 5d. 获取相机参数 ---
st_param = MVCC_INTVALUE()
memset(byref(st_param), 0, sizeof(MVCC_INTVALUE))
ret = cam.MV_CC_GetIntValue("Width", st_param)
width = st_param.nCurValue
if ret != MV_OK:
raise Exception(f"获取宽度失败! ret[0x{ret:x}]")
ret = cam.MV_CC_GetIntValue("Height", st_param)
height = st_param.nCurValue
if ret != MV_OK:
raise Exception(f"获取高度失败! ret[0x{ret:x}]")
# 获取像素格式
st_enum = MVCC_ENUMVALUE()
memset(byref(st_enum), 0, sizeof(MVCC_ENUMVALUE))
ret = cam.MV_CC_GetEnumValue("PixelFormat", st_enum)
pixel_format = MvGvspPixelType(st_enum.nCurValue)
# 获取帧率
st_float = MVCC_FLOATVALUE()
memset(byref(st_float), 0, sizeof(MVCC_FLOATVALUE))
ret = cam.MV_CC_GetFloatValue("ResultingFrameRate", st_float)
fps = st_float.fCurValue if ret == MV_OK else 30.0
print(f"[INFO] 相机参数: {width}x{height}, 像素格式={pixel_format}, 帧率≈{fps:.1f} fps")
# --- 5e. 设置触发模式为 OFF (连续采集) ---
ret = cam.MV_CC_SetEnumValue("TriggerMode", MV_TRIGGER_MODE_OFF)
if ret != MV_OK:
print(f"[WARN] 设置触发模式失败! ret[0x{ret:x}]")
# --- 5f. 开始取流 ---
ret = cam.MV_CC_StartGrabbing()
if ret != MV_OK:
raise Exception(f"开始取流失败! ret[0x{ret:x}]")
print("[INFO] 取流已开始")
print("=" * 50)
print(" 按 's' 键 开始/停止录制")
print(" 按 'q' 键 退出程序")
print("=" * 50)
# --- 5g. 主循环：取流 → 显示 → 录制 ---
# 判断输出像素格式
b_mono = is_mono_pixel(pixel_format)
# 帧缓冲
st_frame = MV_FRAME_OUT()
fps_display = 30.0 # 显示用帧率
frame_count = 0
last_fps_time = time.time()
while True:
memset(byref(st_frame), 0, sizeof(MV_FRAME_OUT))
ret = cam.MV_CC_GetImageBuffer(st_frame, 1000)
if st_frame.pBufAddr is None or ret != MV_OK:
print(f"[WARN] 取流超时或无数据 ret[0x{ret:x}]")
continue
# --- 像素格式转换 ---
frame_info = st_frame.stFrameInfo
src_pixel = frame_info.enPixelType
src_data = st_frame.pBufAddr
src_data_len = frame_info.nFrameLen
# 处理 HB 解码
if is_hb_pixel(src_pixel):
decode_buf_len = frame_info.nWidth * frame_info.nHeight * 3
decode_buf = (c_ubyte * decode_buf_len)()
st_decode = MV_CC_HB_DECODE_PARAM()
memset(byref(st_decode), 0, sizeof(MV_CC_HB_DECODE_PARAM))
st_decode.pSrcBuf = src_data
st_decode.nSrcLen = src_data_len
st_decode.pDstBuf = decode_buf
st_decode.nDstBufSize = decode_buf_len
ret_hb = cam.MV_CC_HBDecode(st_decode)
if ret_hb != MV_OK:
cam.MV_CC_FreeImageBuffer(st_frame)
continue
convert_src_data = st_decode.pDstBuf
convert_src_len = st_decode.nDstBufLen
convert_src_pixel = st_decode.enDstPixelType
else:
convert_src_data = src_data
convert_src_len = src_data_len
convert_src_pixel = src_pixel
# 决定目标像素格式
if is_mono_pixel(convert_src_pixel):
dst_pixel = PixelType_Gvsp_Mono8
channels = 1
else:
dst_pixel = PixelType_Gvsp_RGB8_Packed
channels = 3
dst_buf_len = channels * frame_info.nWidth * frame_info.nHeight
dst_buf = (c_ubyte * dst_buf_len)()
st_convert = MV_CC_PIXEL_CONVERT_PARAM_EX()
memset(byref(st_convert), 0, sizeof(MV_CC_PIXEL_CONVERT_PARAM_EX))
st_convert.nWidth = frame_info.nWidth
st_convert.nHeight = frame_info.nHeight
st_convert.enSrcPixelType = convert_src_pixel
st_convert.pSrcData = convert_src_data
st_convert.nSrcDataLen = convert_src_len
st_convert.enDstPixelType = dst_pixel
st_convert.pDstBuffer = dst_buf
st_convert.nDstBufferSize = dst_buf_len
ret_convert = cam.MV_CC_ConvertPixelTypeEx(st_convert)
if ret_convert != MV_OK:
print(f"[WARN] 像素转换失败! ret[0x{ret_convert:x}]")
cam.MV_CC_FreeImageBuffer(st_frame)
continue
# --- 转换为 numpy / OpenCV 格式 ---
if channels == 1:
img = np.frombuffer(dst_buf, dtype=np.uint8, count=dst_buf_len).reshape(
frame_info.nHeight, frame_info.nWidth
)
# 灰度图复制为3通道以便 VideoWriter
img_bgr = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
else:
img_rgb = np.frombuffer(dst_buf, dtype=np.uint8, count=dst_buf_len).reshape(
frame_info.nHeight, frame_info.nWidth, 3
)
# RGB → BGR (OpenCV 默认 BGR)
img_bgr = cv2.cvtColor(img_rgb, cv2.COLOR_RGB2BGR)
# --- 释放图像缓存 ---
cam.MV_CC_FreeImageBuffer(st_frame)
# --- 录制状态指示 ---
if recording:
# 写入视频帧
video_writer.write(img_bgr)
# 在画面左上角显示录制指示
cv2.circle(img_bgr, (30, 30), 12, (0, 0, 255), -1)
cv2.putText(img_bgr, "REC", (50, 38),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
# 帧率统计
frame_count += 1
if frame_count % 30 == 0:
now = time.time()
fps_display = 30.0 / (now - last_fps_time + 0.001)
last_fps_time = now
# 在画面顶部显示帧率
cv2.putText(img_bgr, f"FPS: {fps_display:.1f}",
(10, frame_info.nHeight - 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 1)
# --- 显示画面 ---
cv2.imshow("Camera (s:Record q:Quit)", img_bgr)
# --- 键盘处理 ---
key = cv2.waitKey(1) & 0xFF
if key == ord('s'):
if not recording:
# 开始录制
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
video_path = os.path.join(_OUTPUT_DIR, f"video_{timestamp}.mp4")
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
# fourcc = cv2.VideoWriter_fourcc(*'XVID') # AVI 备选
video_writer = cv2.VideoWriter(
video_path, fourcc, fps, (frame_info.nWidth, frame_info.nHeight)
)
if not video_writer.isOpened():
# 尝试其他编码器
fourcc = cv2.VideoWriter_fourcc(*'XVID')
video_path = video_path.replace('.mp4', '.avi')
video_writer = cv2.VideoWriter(
video_path, fourcc, fps, (frame_info.nWidth, frame_info.nHeight)
)
if video_writer.isOpened():
recording = True
print(f"[REC] 开始录制 → {video_path}")
else:
print("[ERROR] 无法创建视频文件，请检查编码器!")
else:
# 停止录制
recording = False
video_writer.release()
video_writer = None
print(f"[REC] 录制已停止 → {video_path}")
elif key == ord('q'):
print("[INFO] 用户按下 'q'，退出...")
break
except Exception as e:
print(f"[ERROR] {e}")
import traceback
traceback.print_exc()
finally:
# --- 清理 ---
print("[INFO] 正在清理资源...")
if recording and video_writer is not None:
video_writer.release()
print("[INFO] 视频文件已保存")
if cam is not None:
try:
cam.MV_CC_StopGrabbing()
print("[INFO] 取流已停止")
except:
pass
try:
cam.MV_CC_CloseDevice()
print("[INFO] 设备已关闭")
except:
pass
try:
cam.MV_CC_DestroyHandle()
print("[INFO] 句柄已销毁")
except:
pass
MvCamera.MV_CC_Finalize()
print("[INFO] SDK 已反初始化")
cv2.destroyAllWindows()
print("[INFO] 程序结束")
if __name__ == "__main__":
main()我配置的环境如下：（记得参考之前我写的教程安装minicanda、cuda11.3与vscode）
certifi==2026.7.22
charset-normalizer==3.4.9
idna=3.15
numpy==1.24.4
opencv-python==5.0.0.93
pillow==10.4.0
pip==24.2
requests==2.32.4
setuptools==75.1.0
torch==1.11.0+cu113
torchaudio==0.11.0+cu113
torchvision==0.12.0+cu113
typing_extensions==4.13.2
urllib3==2.2.3
wheel==0.44.0