海康PTZ云台摄像头调试之直接控制云台(C#)

　　众所周知，海康的摄像头sdk较为完善，但是对于新手来说还是有点麻烦。

　　今天写一篇随笔给大家展示下怎么控制海康摄像头的云台（前提是有ptz云台设备）

　　1、sdk准备

　　　　

　　本文基于C#的frame来开发一个ptz控制的demo，上图是海康sdk提供的动态库cs文件，通过dllimport来提取封装的函数。主要使用NET_DVR_PTZControlWithSpeed_Other来控制云台。

　　其中虚线框的流程是可选部分，不会影响其他流程和模块的功能使用。按实现功能的不同可以分成十 个模块，实现每个模块的功能时初始化 SDK、用户注册设备、注销设备和释放 SDK 资源这 4 个流程是必不 可少的，解码器功能模块和行为分析功能模块是针对解码器和智能设备的，在该文档里我们不做描述。

用户注册设备（NET_DVR_Login_V30）：实现用户的注册功能，注册成功后，返回的用户 ID 作为其他功 能操作的唯一标识，SDK 允许最大注册用户数为 512 个。网络摄像机和网络球机允许有 16 个注册用户 名，而且同时最多允许 128 个用户注册。

1.1用户注册及链接摄像头设备

        private bool m_bInitSDK = false;
        private bool m_bRecord = false;
        private uint iLastErr = 0;
        private Int32 m_lUserID = -1;
        private Int32 m_lRealHandle = -1;
        private string str1;
        private string str2;
        private Int32 i = 0;
        private Int32 m_lTree = 0;
        private string str;
        private long iSelIndex = 0;
        private uint dwAChanTotalNum = 0;
        private uint dwDChanTotalNum = 0;
        private Int32 m_lPort = -1;
        private IntPtr m_ptrRealHandle;
        private int[] iIPDevID = new int[96];
        private int[] iChannelNum = new int[96];

        private CHCNetSDK.REALDATACALLBACK RealData = null;
        public CHCNetSDK.NET_DVR_DEVICEINFO_V30 DeviceInfo;
        public CHCNetSDK.NET_DVR_IPPARACFG_V40 m_struIpParaCfgV40;
        public CHCNetSDK.NET_DVR_STREAM_MODE m_struStreamMode;
        public CHCNetSDK.NET_DVR_IPCHANINFO m_struChanInfo;
        public CHCNetSDK.NET_DVR_PU_STREAM_URL m_struStreamURL;
        public CHCNetSDK.NET_DVR_IPCHANINFO_V40 m_struChanInfoV40;
        public delegate void MyDebugInfo(string str);
        CHCNetSDK.NET_DVR_PREVIEWINFO lpPreviewInfo = new CHCNetSDK.NET_DVR_PREVIEWINFO();

        public MainForm()
        {
            InitializeComponent();
            m_bInitSDK = CHCNetSDK.NET_DVR_Init();
            if (m_bInitSDK == false)
            {
                MessageBox.Show("NET_DVR_Init error!");
                return;
            }
            else
            {
                //保存SDK日志 To save the SDK log
                CHCNetSDK.NET_DVR_SetLogToFile(3, @"./SdkLog", true);

                //comboBoxView.SelectedIndex = 0;

                //for (int i = 0; i < 64; i++)
                //{
                //    iIPDevID[i] = -1;
                //    iChannelNum[i] = -1;
                //}
            }

        }

        public void ListIPChannel(Int32 iChanNo, byte byOnline, int byIPID)
        {
            str1 = String.Format("IPCamera {0}", iChanNo);
            m_lTree++;

            if (byIPID == 0)
            {
                str2 = "X"; //通道空闲，没有添加前端设备 the channel is idle
            }
            else
            {
                if (byOnline == 0)
                {
                    str2 = "offline"; //通道不在线 the channel is off-line
                }
                else
                    str2 = "online"; //通道在线 The channel is on-line
            }

            //listViewIPChannel.Items.Add(new ListViewItem(new string[] { str1, str2 }));//将通道添加到列表中 add the channel to the list
        }
        public void ListAnalogChannel(Int32 iChanNo, byte byEnable)
        {
            str1 = String.Format("Camera {0}", iChanNo);
            m_lTree++;

            if (byEnable == 0)
            {
                str2 = "Disabled"; //通道已被禁用 This channel has been disabled
            }
            else
            {
                str2 = "Enabled"; //通道处于启用状态 This channel has been enabled
            }

            //listViewIPChannel.Items.Add(new ListViewItem(new string[] { str1, str2 }));//将通道添加到列表中 add the channel to the list
        }
        public void InfoIPChannel()
        {
            uint dwSize = (uint)Marshal.SizeOf(m_struIpParaCfgV40);

            IntPtr ptrIpParaCfgV40 = Marshal.AllocHGlobal((Int32)dwSize);
            Marshal.StructureToPtr(m_struIpParaCfgV40, ptrIpParaCfgV40, false);

            uint dwReturn = 0;
            int iGroupNo = 0;  //该Demo仅获取第一组64个通道，如果设备IP通道大于64路，需要按组号0~i多次调用NET_DVR_GET_IPPARACFG_V40获取

            if (!CHCNetSDK.NET_DVR_GetDVRConfig(m_lUserID, CHCNetSDK.NET_DVR_GET_IPPARACFG_V40, iGroupNo, ptrIpParaCfgV40, dwSize, ref dwReturn))
            {
                iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                str = "NET_DVR_GET_IPPARACFG_V40 failed, error code= " + iLastErr;
                //获取IP资源配置信息失败，输出错误号 Failed to get configuration of IP channels and output the error code
            }
            else
            {

                m_struIpParaCfgV40 = (CHCNetSDK.NET_DVR_IPPARACFG_V40)Marshal.PtrToStructure(ptrIpParaCfgV40, typeof(CHCNetSDK.NET_DVR_IPPARACFG_V40));

                for (i = 0; i < dwAChanTotalNum; i++)
                {
                    ListAnalogChannel(i + 1, m_struIpParaCfgV40.byAnalogChanEnable[i]);
                    iChannelNum[i] = i + (int)DeviceInfo.byStartChan;
                }

                byte byStreamType = 0;
                uint iDChanNum = 64;

                if (dwDChanTotalNum < 64)
                {
                    iDChanNum = dwDChanTotalNum; //如果设备IP通道小于64路，按实际路数获取
                }

                for (i = 0; i < iDChanNum; i++)
                {
                    iChannelNum[i + dwAChanTotalNum] = i + (int)m_struIpParaCfgV40.dwStartDChan;
                    byStreamType = m_struIpParaCfgV40.struStreamMode[i].byGetStreamType;

                    dwSize = (uint)Marshal.SizeOf(m_struIpParaCfgV40.struStreamMode[i].uGetStream);
                    switch (byStreamType)
                    {
                        //目前NVR仅支持直接从设备取流 NVR supports only the mode: get stream from device directly
                        case 0:
                            IntPtr ptrChanInfo = Marshal.AllocHGlobal((Int32)dwSize);
                            Marshal.StructureToPtr(m_struIpParaCfgV40.struStreamMode[i].uGetStream, ptrChanInfo, false);
                            m_struChanInfo = (CHCNetSDK.NET_DVR_IPCHANINFO)Marshal.PtrToStructure(ptrChanInfo, typeof(CHCNetSDK.NET_DVR_IPCHANINFO));

                            //列出IP通道 List the IP channel
                            ListIPChannel(i + 1, m_struChanInfo.byEnable, m_struChanInfo.byIPID);
                            iIPDevID[i] = m_struChanInfo.byIPID + m_struChanInfo.byIPIDHigh * 256 - iGroupNo * 64 - 1;

                            Marshal.FreeHGlobal(ptrChanInfo);
                            break;
                        case 4:
                            IntPtr ptrStreamURL = Marshal.AllocHGlobal((Int32)dwSize);
                            Marshal.StructureToPtr(m_struIpParaCfgV40.struStreamMode[i].uGetStream, ptrStreamURL, false);
                            m_struStreamURL = (CHCNetSDK.NET_DVR_PU_STREAM_URL)Marshal.PtrToStructure(ptrStreamURL, typeof(CHCNetSDK.NET_DVR_PU_STREAM_URL));

                            //列出IP通道 List the IP channel
                            ListIPChannel(i + 1, m_struStreamURL.byEnable, m_struStreamURL.wIPID);
                            iIPDevID[i] = m_struStreamURL.wIPID - iGroupNo * 64 - 1;

                            Marshal.FreeHGlobal(ptrStreamURL);
                            break;
                        case 6:
                            IntPtr ptrChanInfoV40 = Marshal.AllocHGlobal((Int32)dwSize);
                            Marshal.StructureToPtr(m_struIpParaCfgV40.struStreamMode[i].uGetStream, ptrChanInfoV40, false);
                            m_struChanInfoV40 = (CHCNetSDK.NET_DVR_IPCHANINFO_V40)Marshal.PtrToStructure(ptrChanInfoV40, typeof(CHCNetSDK.NET_DVR_IPCHANINFO_V40));

                            //列出IP通道 List the IP channel
                            ListIPChannel(i + 1, m_struChanInfoV40.byEnable, m_struChanInfoV40.wIPID);
                            iIPDevID[i] = m_struChanInfoV40.wIPID - iGroupNo * 64 - 1;

                            Marshal.FreeHGlobal(ptrChanInfoV40);
                            break;
                        default:
                            break;
                    }
                }
            }
            Marshal.FreeHGlobal(ptrIpParaCfgV40);

        }

　　 上面展示的是设备注册链接时要申请的变量；接下来开始链接，这里用一个button去实现用户连接的功能：

private void button1_Click(object sender, EventArgs e)
        {
            if (m_lUserID < 0)
            {
                string DVRIPAddress = tb_IP.Text; //设备IP地址或者域名 Device IP
                Int16 DVRPortNumber = Int16.Parse(tb_Port.Text);//设备服务端口号 Device Port
                string DVRUserName = tb_ID.Text;//设备登录用户名 User name to login
                string DVRPassword = tb_Pwd.Text;//设备登录密码 Password to login

                //登录设备 Login the device
                m_lUserID = CHCNetSDK.NET_DVR_Login_V30(DVRIPAddress, DVRPortNumber, DVRUserName, DVRPassword, ref DeviceInfo);
                if (m_lUserID < 0)
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_Login_V30 failed, error code= " + iLastErr; //登录失败，输出错误号 Failed to login and output the error code
                    return;
                }
                else
                {
                    //登录成功
                    button1.Text = "断开";

                    dwAChanTotalNum = (uint)DeviceInfo.byChanNum;
                    dwDChanTotalNum = (uint)DeviceInfo.byIPChanNum + 256 * (uint)DeviceInfo.byHighDChanNum;
                    if (dwDChanTotalNum > 0)
                    {
                        InfoIPChannel();
                    }
                    else
                    {
                        for (i = 0; i < dwAChanTotalNum; i++)
                        {
                            ListAnalogChannel(i + 1, 1);
                            iChannelNum[i] = i + (int)DeviceInfo.byStartChan;
                        }

                        //comboBoxView.SelectedItem = 1;
                        // MessageBox.Show("This device has no IP channel!");
                    }
                }

            }
            else
            {
                //注销登录 Logout the device
                if (m_lRealHandle >= 0)
                {
                    m_lUserID = -1;
                    button1.Text = "连接相机";
                    return;
                }

                if (!CHCNetSDK.NET_DVR_Logout(m_lUserID))
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_Logout failed, error code= " + iLastErr;
                    return;
                }
                //listViewIPChannel.Items.Clear();//清空通道列表 Clean up the channel list
                m_lUserID = -1;
                button1.Text = "连接相机";
            }

            if (m_lRealHandle < 0)
            {
                //lpPreviewInfo.hPlayWnd = RealPlayWnd.Handle;//预览窗口 live view window
                lpPreviewInfo.lChannel = iChannelNum[(int)iSelIndex];//预览的设备通道 the device channel number
                lpPreviewInfo.dwStreamType = 0;//码流类型：0-主码流，1-子码流，2-码流3，3-码流4，以此类推
                lpPreviewInfo.dwLinkMode = 0;//连接方式：0- TCP方式，1- UDP方式，2- 多播方式，3- RTP方式，4-RTP/RTSP，5-RSTP/HTTP
                lpPreviewInfo.bBlocked = true; //0- 非阻塞取流，1- 阻塞取流
                lpPreviewInfo.dwDisplayBufNum = 15; //播放库显示缓冲区最大帧数

                IntPtr pUser = IntPtr.Zero;//用户数据 user data 

                //if (comboBoxView.SelectedIndex == 0)
                //{
                //打开预览 Start live view
                m_lRealHandle = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, null/*RealData*/, pUser);
                //}
                //else
                //{
                //    lpPreviewInfo.hPlayWnd = IntPtr.Zero;//预览窗口 live view window
                //    m_ptrRealHandle = RealPlayWnd.Handle;
                //    RealData = new CHCNetSDK.REALDATACALLBACK(RealDataCallBack);//预览实时流回调函数 real-time stream callback function
                //    m_lRealHandle = CHCNetSDK.NET_DVR_RealPlay_V40(m_lUserID, ref lpPreviewInfo, RealData, pUser);
                //}

                if (m_lRealHandle < 0)
                {
                    iLastErr = CHCNetSDK.NET_DVR_GetLastError();
                    str = "NET_DVR_RealPlay_V40 failed, error code= " + iLastErr; //预览失败，输出错误号 failed to start live view, and output the error code.
                    return;
                }
                else
                {
                    ////预览成功
                    //DebugInfo("NET_DVR_RealPlay_V40 succ!");
                    //btnPreview.Text = "Stop View";
                    MessageBox.Show("连接成功！");
                }
            }
            return;
        }

　　到这里没报错的话就说明连接上了

1.2 控制云台

上一步时连接设备，注意：我们本次要做的时不预览画面单独控制云台！

需要用到：CHCNetSDK.NET_DVR_PTZControlWithSpeed_Other(m_lRealHandle, lpPreviewInfo.lChannel, 21, 0, 15);

解释：

CHCNetSDK.NET_DVR_PTZControlWithSpeed_Other(m_lRealHandle, lpPreviewInfo.lChannel, 21, 0, 15);//示例

云台控制指令如图：

大家有需要可以试一下，练练手！