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本文将介绍如何调用onvif协议的接口，来实现代码控制海康相机云台转动，查询的大多数代码是使用C++来实现，感觉有点复杂，本文直接采用python接口来实现。C版本的请查看ONVIF系列——c++使用gsoap onvif编写onvif代码并控制海康摄像头

1 安装python-onvif

1.1 pip安装

python官方已经提供了onvif包的安装，因此可直接通过pip来安装，如下

pip2 install onvif
要注意这里pip必须对应python2，如果对应是python3可能会有问题，因此为了避免这种问题，建议采用如下的源码安装

1.2 源码安装

git clone https://github.com/quatanium/python-onvif
cd python-onvif
python2 setup.py install

1.3 安装测试

安装成功后，运行python2，输入以下语句，不报错即安装成功

from onvif import ONVIFCamera

2 连续运动(python2版本)

在python-onvif安装包中，有examples文件夹，其中有个continuous_move.py文件，代码如下

from time import sleep
 
from onvif import ONVIFCamera
 
XMAX = 1
XMIN = -1
YMAX = 1
YMIN = -1
 
def perform_move(ptz, request, timeout):
    # Start continuous move
    ptz.ContinuousMove(request)
    # Wait a certain time
    sleep(timeout)
    # Stop continuous move
    ptz.Stop({'ProfileToken': request.ProfileToken})
 
def move_up(ptz, request, timeout=1):
    print 'move up...'
    request.Velocity.PanTilt._x = 0
    request.Velocity.PanTilt._y = YMAX
    perform_move(ptz, request, timeout)
 
def move_down(ptz, request, timeout=1):
    print 'move down...'
    request.Velocity.PanTilt._x = 0
    request.Velocity.PanTilt._y = YMIN
    perform_move(ptz, request, timeout)
 
def move_right(ptz, request, timeout=1):
    print 'move right...'
    request.Velocity.PanTilt._x = XMAX
    request.Velocity.PanTilt._y = 0
    perform_move(ptz, request, timeout)
 
def move_left(ptz, request, timeout=1):
    print 'move left...'
    request.Velocity.PanTilt._x = XMIN
    request.Velocity.PanTilt._y = 0
    perform_move(ptz, request, timeout)
 
def continuous_move():
    mycam = ONVIFCamera('192.168.0.112', 80, 'admin', '12345')
    # Create media service object
    media = mycam.create_media_service()
    # Create ptz service object
    ptz = mycam.create_ptz_service()
 
    # Get target profile
    media_profile = media.GetProfiles()[0]
 
    # Get PTZ configuration options for getting continuous move range
    request = ptz.create_type('GetConfigurationOptions')
    request.ConfigurationToken = media_profile.PTZConfiguration._token
    ptz_configuration_options = ptz.GetConfigurationOptions(request)
 
    request = ptz.create_type('ContinuousMove')
    request.ProfileToken = media_profile._token
 
    ptz.Stop({'ProfileToken': media_profile._token})
 
    # Get range of pan and tilt
    # NOTE: X and Y are velocity vector
    global XMAX, XMIN, YMAX, YMIN
    XMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Max
    XMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Min
    YMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Max
    YMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Min
 
    # move right
    move_right(ptz, request)
 
    # move left
    move_left(ptz, request)
 
    # Move up
    move_up(ptz, request)
 
    # move down
    move_down(ptz, request)
 
if __name__ == '__main__':
    continuous_move()

将第43行函数里的IP、用户名、密码修改为自己相机的参数，比如我的相机参数如下

mycam = ONVIFCamera('192.168.170.*', 80, 'admin', '**')

然后运行python2 continuous_move.py，相机云台即可分别实现右左上下运动，参考此代码我们便可以编写我们自己的运动控制程序

3 连续运动(python3版本)

Python3版本安装方法如下

pip3 install --upgrade onvif_zeep

连续运动代码

from time import sleep
 
from onvif import ONVIFCamera
import zeep
 
XMAX = 1
XMIN = -1
YMAX = 1
YMIN = -1
 
def zeep_pythonvalue(self, xmlvalue):
    return xmlvalue
 
def perform_move(ptz, request, timeout):
    # Start continuous move
    ptz.ContinuousMove(request)
    # Wait a certain time
    sleep(timeout)
    # Stop continuous move
    ptz.Stop({'ProfileToken': request.ProfileToken})
 
def move_up(ptz, request, timeout=1):
    print('move up...') 
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = YMAX
    perform_move(ptz, request, timeout)
 
def move_down(ptz, request, timeout=1):
    print('move down...') 
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = YMIN
    perform_move(ptz, request, timeout)
 
def move_right(ptz, request, timeout=1):
    print('move right...') 
    request.Velocity.PanTilt.x = XMAX
    request.Velocity.PanTilt.y = 0
    perform_move(ptz, request, timeout)
 
def move_left(ptz, request, timeout=1):
    print('move left...') 
    request.Velocity.PanTilt.x = XMIN
    request.Velocity.PanTilt.y = 0
    perform_move(ptz, request, timeout)
 
def continuous_move():
    mycam = ONVIFCamera('192.168.170.**', 80, 'admin', '**')
    # Create media service object
    media = mycam.create_media_service()
    # Create ptz service object
    ptz = mycam.create_ptz_service()
 
    # Get target profile
    zeep.xsd.simple.AnySimpleType.pythonvalue = zeep_pythonvalue
    media_profile = media.GetProfiles()[0]
 
    # Get PTZ configuration options for getting continuous move range
    request = ptz.create_type('GetConfigurationOptions')
    request.ConfigurationToken = media_profile.PTZConfiguration.token
    ptz_configuration_options = ptz.GetConfigurationOptions(request)
 
    request = ptz.create_type('ContinuousMove')
    request.ProfileToken = media_profile.token
    ptz.Stop({'ProfileToken': media_profile.token})
 
    if request.Velocity is None:
        request.Velocity = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
        request.Velocity = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
        request.Velocity.PanTilt.space = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].URI
        request.Velocity.Zoom.space = ptz_configuration_options.Spaces.ContinuousZoomVelocitySpace[0].URI
   
    # Get range of pan and tilt
    # NOTE: X and Y are velocity vector
    global XMAX, XMIN, YMAX, YMIN
    XMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Max
    XMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Min
    YMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Max
    YMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Min
 
    # move right
    move_right(ptz, request)
 
    # move left
    move_left(ptz, request)
 
    # Move up
    move_up(ptz, request)
 
    # move down
    move_down(ptz, request)
 
if __name__ == '__main__':
    continuous_move()

4 绝对运动(python3版本)

仿照连续运动的实例，结合onvif协议，可以写绝对运动的控制程序

from time import sleep
 
from onvif import ONVIFCamera
import zeep
 
XMAX = 1
XMIN = -1
YMAX = 1
YMIN = -1
 
def zeep_pythonvalue(self, xmlvalue):
    return xmlvalue
 
def perform_move(ptz, request, timeout):
    # Start continuous move
    ptz.ContinuousMove(request)
    # Wait a certain time
    sleep(timeout)
    # Stop continuous move
    ptz.Stop({'ProfileToken': request.ProfileToken})
 
 
def absolute_move():
    pan = 0
    pan_speed = 1
    tilt = 0
    tilt_speed = 1
    zoom = 1
    zoom_speed = 1
 
    mycam = ONVIFCamera('192.168.170.**', 80, 'admin', '**')
    # Create media service object
    media = mycam.create_media_service()
    # Create ptz service object
    ptz = mycam.create_ptz_service()
 
    # Get target profile
    zeep.xsd.simple.AnySimpleType.pythonvalue = zeep_pythonvalue
    media_profile = media.GetProfiles()[0]
 
    # Get PTZ configuration options for getting absolute move range
    request = ptz.create_type('GetConfigurationOptions')
    request.ConfigurationToken = media_profile.PTZConfiguration.token
    # ptz_configuration_options = ptz.GetConfigurationOptions(request)
 
    request = ptz.create_type('AbsoluteMove')
    request.ProfileToken = media_profile.token
    ptz.Stop({'ProfileToken': media_profile.token})
 
    if request.Position is None:
        request.Position = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
    if request.Speed is None:
        request.Speed = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
 
    request.Position.PanTilt.x = pan
    request.Speed.PanTilt.x = pan_speed
 
    request.Position.PanTilt.y = tilt
    request.Speed.PanTilt.y = tilt_speed
 
    request.Position.Zoom = zoom
    request.Speed.Zoom = zoom_speed
 
    ptz.AbsoluteMove(request)
    print('finish')
 
 
if __name__ == '__main__':
    absolute_move()

5 不同的连续运动(python3版本)

# -*- coding: utf-8 -*-
# @Time    : 2021/4/20 10:53
# @Author  : RichardoMu
# @File    : move.py
# @Software: PyCharm

from time import sleep

from onvif import ONVIFCamera
import zeep

XMAX = 1
XMIN = -1
YMAX = 1
YMIN = -1


def zeep_pythonvalue(self, xmlvalue):
    return xmlvalue


def perform_move(ptz, request, timeout):
    # Start continuous move
    ptz.ContinuousMove(request)
    # Wait a certain time
    sleep(timeout)
    # Stop continuous move
    ptz.Stop({'ProfileToken': request.ProfileToken})


def move_up(ptz, request, timeout=1):
    print('move up...')
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = YMAX
    perform_move(ptz, request, timeout)


def move_down(ptz, request, timeout=1):
    print('move down...')
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = YMIN
    perform_move(ptz, request, timeout)


def move_right(ptz, request, timeout=1):
    print('move right...')
    request.Velocity.PanTilt.x = XMAX
    request.Velocity.PanTilt.y = 0

    perform_move(ptz, request, timeout)


def move_left(ptz, request, timeout=1):
    print('move left...')
    request.Velocity.PanTilt.x = XMIN
    request.Velocity.PanTilt.y = 0
    perform_move(ptz, request, timeout)


def zoom_up(ptz,request,timeout=1):
    print('zoom up')
    request.Velocity.Zoom.x = 1
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = 0
    perform_move(ptz,request,timeout)


def zoom_dowm(ptz,request,timeout=1):
    print('zoom down')
    request.Velocity.Zoom.x = -1
    request.Velocity.PanTilt.x = 0
    request.Velocity.PanTilt.y = 0
    perform_move(ptz, request, timeout)


def continuous_move():
    mycam = ONVIFCamera('192.168.66.64', 80, 'admin', 'wst123456')
    # Create media service object
    media = mycam.create_media_service()
    # Create ptz service object
    ptz = mycam.create_ptz_service()

    # Get target profile
    zeep.xsd.simple.AnySimpleType.pythonvalue = zeep_pythonvalue
    media_profile = media.GetProfiles()[0]

    # Get PTZ configuration options for getting continuous move range
    request = ptz.create_type('GetConfigurationOptions')
    request.ConfigurationToken = media_profile.PTZConfiguration.token
    ptz_configuration_options = ptz.GetConfigurationOptions(request)

    request = ptz.create_type('ContinuousMove')
    request.ProfileToken = media_profile.token
    ptz.Stop({'ProfileToken': media_profile.token})

    if request.Velocity is None:
        request.Velocity = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
        request.Velocity = ptz.GetStatus({'ProfileToken': media_profile.token}).Position
        request.Velocity.PanTilt.space = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].URI
        request.Velocity.Zoom.space = ptz_configuration_options.Spaces.ContinuousZoomVelocitySpace[0].URI

    # Get range of pan and tilt
    # NOTE: X and Y are velocity vector
    global XMAX, XMIN, YMAX, YMIN
    XMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Max
    XMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].XRange.Min
    YMAX = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Max
    YMIN = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].YRange.Min


    for i in range(10):
        zoom_up(ptz,request)

    for i in range(10):
        zoom_dowm(ptz,request)
    # move right
    for i in range(10):
        move_right(ptz, request)

    # move left
    for i in range(10):

        move_left(ptz, request)

    # Move up
    for i in range(10):
        move_up(ptz, request)

    # move down
    for i in range(10):
        move_down(ptz, request)


if __name__ == '__main__':
    continuous_move()

6 获取预置位和到设定预置位等操作(python3版本)

# -*- coding: utf-8 -*-
# @Time    : 2021/4/20 14:57
# @Author  : RichardoMu
# @File    : ptz_control.py
# @Software: PyCharm

import sys
from onvif import ONVIFCamera
from time import sleep

IP = "192.168.66.64"  # Camera IP address
PORT = 80  # Port
USER = "admin"  # Username
PASS = "wst123456"  # Password

class ptzControl(object):
    def __init__(self):
        super(ptzControl, self).__init__()
        self.mycam = ONVIFCamera(IP,PORT,USER,PASS)
        # create media service object
        self.media = self.mycam.create_media_service()
        # Get target profile
        self.media_profile = self.media.GetProfiles()[0]
        # Use the first profile and Profiles have at least one
        token = self.media_profile.token
        # PTZ controls  -------------------------------------------------------------
        self.ptz = self.mycam.create_ptz_service()
        # Get available PTZ services
        request = self.ptz.create_type('GetServiceCapabilities')
        Service_Capabilities = self.ptz.GetServiceCapabilities(request)
        # Get PTZ status
        status = self.ptz.GetStatus({'ProfileToken': token})

        # Get PTZ configuration options for getting option ranges
        request = self.ptz.create_type('GetConfigurationOptions')
        request.ConfigurationToken = self.media_profile.PTZConfiguration.token
        ptz_configuration_options = self.ptz.GetConfigurationOptions(request)

        # get continuousMove request -- requestc
        self.requestc = self.ptz.create_type('ContinuousMove')
        self.requestc.ProfileToken = self.media_profile.token
        if self.requestc.Velocity is None:
            self.requestc.Velocity = self.ptz.GetStatus({'ProfileToken': self.media_profile.token}).Position
            self.requestc.Velocity.PanTilt.space = ptz_configuration_options.Spaces.ContinuousPanTiltVelocitySpace[0].URI
            self.requestc.Velocity.Zoom.space = ptz_configuration_options.Spaces.ContinuousZoomVelocitySpace[0].URI

        # get absoluteMove request -- requesta
        self.requesta = self.ptz.create_type('AbsoluteMove')
        self.requesta.ProfileToken = self.media_profile.token
        if self.requesta.Position is None:
            self.requesta.Position = self.ptz.GetStatus(
                {'ProfileToken': self.media_profile.token}).Position
        if self.requesta.Speed is None:
            self.requesta.Speed = self.ptz.GetStatus(
                {'ProfileToken': self.media_profile.token}).Position

        # get relativeMove request -- requestr
        self.requestr = self.ptz.create_type('RelativeMove')
        self.requestr.ProfileToken = self.media_profile.token
        if self.requestr.Translation is None:
            self.requestr.Translation = self.ptz.GetStatus(
                {'ProfileToken': self.media_profile.token}).Position
            self.requestr.Translation.PanTilt.space = ptz_configuration_options.Spaces.RelativePanTiltTranslationSpace[0].URI
            self.requestr.Translation.Zoom.space = ptz_configuration_options.Spaces.RelativeZoomTranslationSpace[0].URI
        if self.requestr.Speed is None:
            self.requestr.Speed = self.ptz.GetStatus(
                {'ProfileToken': self.media_profile.token}).Position

        self.requests = self.ptz.create_type('Stop')
        self.requests.ProfileToken = self.media_profile.token
        self.requestp = self.ptz.create_type('SetPreset')
        self.requestp.ProfileToken = self.media_profile.token
        self.requestg = self.ptz.create_type('GotoPreset')
        self.requestg.ProfileToken = self.media_profile.token
        self.stop()

    # Stop pan, tilt and zoom
    def stop(self):
        self.requests.PanTilt = True
        self.requests.Zoom = True
        print(f"self.request:{self.requests}")
        self.ptz.Stop(self.requests)

    # Continuous move functions
    def perform_move(self, requestc):
        # Start continuous move
        ret = self.ptz.ContinuousMove(requestc)

    def move_tilt(self, velocity):
        self.requestc.Velocity.PanTilt.x = 0.0
        self.requestc.Velocity.PanTilt.y = velocity
        self.perform_move(self.requestc)

    def move_pan(self, velocity):
        self.requestc.Velocity.PanTilt.x = velocity
        self.requestc.Velocity.PanTilt.y = 0.0
        self.perform_move(self.requestc)

    def move_continuous(self, pan, tilt):
        self.requestc.Velocity.PanTilt.x = pan
        self.requestc.Velocity.PanTilt.y = tilt
        self.perform_move(self.requestc)

    def zoom(self, velocity):
        self.requestc.Velocity.Zoom.x = velocity
        self.perform_move(self.requestc)


    # Absolute move functions --NO ERRORS BUT CAMERA DOES NOT MOVE
    def move_abspantilt(self, pan, tilt, velocity):
        self.requesta.Position.PanTilt.x = pan
        self.requesta.Position.PanTilt.y = tilt
        self.requesta.Speed.PanTilt.x = velocity
        self.requesta.Speed.PanTilt.y = velocity
        ret = self.ptz.AbsoluteMove(self.requesta)

    # Relative move functions --NO ERRORS BUT CAMERA DOES NOT MOVE
    def move_relative(self, pan, tilt, velocity):
        self.requestr.Translation.PanTilt.x = pan
        self.requestr.Translation.PanTilt.y = tilt
        self.requestr.Speed.PanTilt = [velocity,velocity]
        # self.requestr.Speed.PanTilt.x = velocity
        # self.requestr.Speed.PanTilt.y = velocity
        self.requestr.Speed.Zoom = 0
        ret = self.ptz.RelativeMove(self.requestr)

    def zoom_relative(self, zoom, velocity):
        self.requestr.Translation.PanTilt.x = 0
        self.requestr.Translation.PanTilt.y = 0
        self.requestr.Translation.Zoom.x = zoom
        self.requestr.Speed.PanTilt.x = 0
        self.requestr.Speed.PanTilt.y = 0
        self.requestr.Speed.Zoom.x = velocity
        ret = self.ptz.RelativeMove(self.requestr)

        # Sets preset set, query and and go to

    def set_preset(self, name):
        self.requestp.PresetName = name
        self.requestp.PresetToken = '1'
        self.preset = self.ptz.SetPreset(self.requestp)  # returns the PresetToken

    def get_preset(self):
        self.ptzPresetsList = self.ptz.GetPresets(self.requestc)

    def goto_preset(self):
        self.requestg.PresetToken = '1'
        self.ptz.GotoPreset(self.requestg)