Qt（C++）调用工业相机Basler的SDK使用示例
2020-03-13 12:08
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简介
由于公司采购的AVT相机不足，需要用Basler相机来弥补，所以我也了解了一下Basler这款相机的SDK。由于Basler这边的相机提供的没有提供Qt的示例，所以我做一个分享出来。
本篇的Demo采用的是工业黑白相机。工业应用中，如果我们要处理的是与图像颜色有关，那么我们最好采用彩色工业相机；如果不是，那么我们最好选用黑白工业相机，因为在同样分辨率下的工业相机，黑白工业教学精度比彩色工业相机高，尤其是在看图像边缘的时候，黑白工业相机的效果更好。
开发环境
- Qt: 5.6.2vc2013版
- Basler: 5.0.11版
效果图
上图只是做了SDK部分接口的获取和设置。相机的触发方式、曝光时间、增益、频率，以及图片的尺寸、灯的触发信号等。
Basler相机SDK接口调用控制类
#ifndef SBASLERCAMERACONTROL_H
#define SBASLERCAMERACONTROL_H
#include <QObject>
#include <pylon/PylonIncludes.h>
#include <QImage>
#include <QTimer>
#define DOUBLE_MAX 100000
#define DOUBLE_MIN 0
using namespace std;
using namespace Pylon;
using namespace GenApi;
class SBaslerCameraControl : public QObject
{
Q_OBJECT
public:
explicit SBaslerCameraControl(QObject *parent = 0);
~SBaslerCameraControl();
enum SBaslerCameraControl_Type{
Type_Basler_Freerun, //设置相机的内触发
Type_Basler_Line1, //设置相机的外触发
Type_Basler_ExposureTimeAbs, //设置相机的曝光时间
Type_Basler_GainRaw, //设置相机的增益
Type_Basler_AcquisitionFrameRateAbs, //设置相机的频率
Type_Basler_Width, //图片的宽度
Type_Basler_Height, //图片的高度
Type_Basler_LineSource, //灯的触发信号
};
void initSome();
void deleteAll();
QStringList cameras();
int OpenCamera(QString cameraSN);
int CloseCamera();
void setExposureTime(double time); // 设置曝光时间
int getExposureTime(); // 获取曝光时间
int getExposureTimeMin(); // 最小曝光时间
int getExposureTimeMax(); // 最大曝光时间
void setFeatureTriggerSourceType(QString type); // 设置种类
QString getFeatureTriggerSourceType(); // 获取种类：软触发、外触发等等
void setFeatureTriggerModeType(bool on); // 设置模式触发
bool getFeatureTriggerModeType(); // 获取模式触发
void SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index, double tmpValue = 0.0); // 设置各种参数
double GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index); // 获取各种参数
long GrabImage(QImage& image,int timeout = 2000);
long StartAcquire(); // 开始采集
long StopAcquire(); // 结束采集
signals:
void sigCameraUpdate(QStringList list);
void sigSizeChange(QSize size);
void sigCameraCount(int count);
void sigCurrentImage(QImage img);
private:
void UpdateCameraList();
void CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage);
private slots:
void onTimerGrabImage();
private:
CInstantCamera m_basler;
QStringList m_cameralist;
QString m_currentMode;
bool m_isOpenAcquire = false; // 是否开始采集
bool m_isOpen = false; // 是否打开摄像头
QSize m_size;
};
#endif // SBASLERCAMERACONTROL_H
源文件：
#include "sbaslercameracontrol.h"
#include <QDateTime>
#include <QDebug>
SBaslerCameraControl::SBaslerCameraControl(QObject *parent) : QObject(parent)
{
}
SBaslerCameraControl::~SBaslerCameraControl()
{
}
void SBaslerCameraControl::initSome()
{
qDebug() << "SBaslerCameraControl: PylonInitialize initSome" ;
PylonInitialize();
CTlFactory &TlFactory = CTlFactory::GetInstance();
TlInfoList_t lstInfo;
int n = TlFactory.EnumerateTls(lstInfo);
TlInfoList_t::const_iterator it;
for ( it = lstInfo.begin(); it != lstInfo.end(); ++it ) {
qDebug() << "FriendlyName: " << it->GetFriendlyName() << "FullName: " << it->GetFullName();
qDebug() << "VendorName: " << it->GetVendorName() << "DeviceClass: " << it->GetDeviceClass() ;
}
UpdateCameraList();
emit sigCameraCount(n);
qDebug() << "SBasler Camera Count: " << n;
}
void SBaslerCameraControl::deleteAll()
{
//停止采集
if(m_isOpenAcquire) {
StopAcquire();
}
//关闭摄像头
CloseCamera();
//关闭库
qDebug() << "SBaslerCameraControl deleteAll: PylonTerminate" ;
PylonTerminate();
qDebug() << "SBaslerCameraControl deleteAll: Close" ;
}
QStringList SBaslerCameraControl::cameras()
{
return m_cameralist;
}
void SBaslerCameraControl::UpdateCameraList()
{
CTlFactory& TLFactory = CTlFactory::GetInstance();
ITransportLayer * pTl = TLFactory.CreateTl("BaslerGigE");
DeviceInfoList_t devices;
int n = pTl->EnumerateDevices(devices);
CInstantCameraArray cameraArray(devices.size());
if(n == 0) {
qDebug() << "Cannot find Any camera!";
return;
}
for (int i=0 ; i<cameraArray.GetSize() ; i++) {
cameraArray[i].Attach(TLFactory.CreateDevice(devices[i]));
string sn = cameraArray[i].GetDeviceInfo().GetSerialNumber();
m_cameralist << QString::fromStdString(sn);
}
emit sigCameraUpdate(m_cameralist);
}
void SBaslerCameraControl::CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage)
{
uchar* buff = (uchar*)pInBuffer->GetBuffer();
int nHeight = pInBuffer->GetHeight();
int nWidth = pInBuffer->GetWidth();
if(m_size != QSize(nWidth, nHeight)) {
m_size = QSize(nWidth, nHeight);
emit sigSizeChange(m_size);
}
QImage imgBuff(buff, nWidth, nHeight, QImage::Format_Indexed8);
OutImage = imgBuff;
if(pInBuffer->GetPixelType() == PixelType_Mono8) {
uchar* pCursor = OutImage.bits();
if ( OutImage.bytesPerLine() != nWidth ) {
for ( int y=0; y<nHeight; ++y ) {
pCursor = OutImage.scanLine( y );
for ( int x=0; x<nWidth; ++x ) {
*pCursor =* buff;
++pCursor;
++buff;
}
}
} else {
memcpy( OutImage.bits(), buff, nWidth * nHeight );
}
}
}
void SBaslerCameraControl::onTimerGrabImage()
{
if(m_isOpenAcquire) {
QImage image;
GrabImage(image, 5);
if(!image.isNull()) {
emit sigCurrentImage(image);
}
QTimer::singleShot(5, this, SLOT(onTimerGrabImage()));
}
}
int SBaslerCameraControl::OpenCamera(QString cameraSN)
{
try {
CDeviceInfo cInfo;
String_t str = String_t(cameraSN.toStdString().c_str());
cInfo.SetSerialNumber(str);
m_basler.Attach(CTlFactory::GetInstance().CreateDevice(cInfo));
m_basler.Open();
//获取触发模式
getFeatureTriggerSourceType();
m_isOpen = true;
} catch (GenICam::GenericException &e) {
OutputDebugString(L"OpenCamera Error\n");
m_isOpen = false;
return -2;
}
return 0;
}
int SBaslerCameraControl::CloseCamera()
{
if(!m_isOpen) {
return -1;
}
try {
if(m_basler.IsOpen()) {
m_basler.DetachDevice();
m_basler.Close();
}
} catch (GenICam::GenericException &e) {
OutputDebugString(LPCWSTR(e.GetDescription()));
return -2;
}
return 0;
}
void SBaslerCameraControl::setExposureTime(double time)
{
SetCamera(Type_Basler_ExposureTimeAbs, time);
}
int SBaslerCameraControl::getExposureTime()
{
return QString::number(GetCamera(Type_Basler_ExposureTimeAbs)).toInt();
}
int SBaslerCameraControl::getExposureTimeMin()
{
return DOUBLE_MIN;
}
int SBaslerCameraControl::getExposureTimeMax()
{
return DOUBLE_MAX;
}
void SBaslerCameraControl::setFeatureTriggerSourceType(QString type)
{
//停止采集
if(m_isOpenAcquire) {
StopAcquire();
}
if(type == "Freerun") {
SetCamera(Type_Basler_Freerun);
} else if(type == "Line1"){
SetCamera(Type_Basler_Line1);
}
}
QString SBaslerCameraControl::getFeatureTriggerSourceType()
{
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");
ptrTriggerSel->FromString("FrameStart");
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");
ptrTrigger->SetIntValue(1);
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");
String_t str = ptrTriggerSource->ToString();
m_currentMode = QString::fromLocal8Bit(str.c_str());
return m_currentMode;
}
void SBaslerCameraControl::setFeatureTriggerModeType(bool on)
{
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");
ptrTriggerSel->FromString("FrameStart");
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");
ptrTrigger->SetIntValue(on?1:0);
}
bool SBaslerCameraControl::getFeatureTriggerModeType()
{
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");
ptrTriggerSel->FromString("FrameStart");
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");
return ptrTrigger->GetIntValue() == 1;
}
void SBaslerCameraControl::SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index, double tmpValue)
{
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
switch (index) {
case Type_Basler_Freerun: {
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");
ptrTriggerSel->FromString("FrameStart");
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");
#ifdef Real_Freerun
ptrTrigger->SetIntValue(0);
#else //Software
ptrTrigger->SetIntValue(1);
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");
ptrTriggerSource->FromString("Software");
#endif
} break;
case Type_Basler_Line1: {
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");
ptrTriggerSel->FromString("FrameStart");
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");
ptrTrigger->SetIntValue(1);
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");
ptrTriggerSource->FromString("Line1");
} break;
case Type_Basler_ExposureTimeAbs: {
const CFloatPtr exposureTime = cameraNodeMap.GetNode("ExposureTimeAbs");
exposureTime->SetValue(tmpValue);
} break;
case Type_Basler_GainRaw: {
const CIntegerPtr cameraGen = cameraNodeMap.GetNode("GainRaw");
cameraGen->SetValue(tmpValue);
} break;
case Type_Basler_AcquisitionFrameRateAbs: {
const CBooleanPtr frameRate = cameraNodeMap.GetNode("AcquisitionFrameRateEnable");
frameRate->SetValue(TRUE);
const CFloatPtr frameRateABS = cameraNodeMap.GetNode("AcquisitionFrameRateAbs");
frameRateABS->SetValue(tmpValue);
} break;
case Type_Basler_Width: {
const CIntegerPtr widthPic = cameraNodeMap.GetNode("Width");
widthPic->SetValue(tmpValue);
} break;
case Type_Basler_Height: {
const CIntegerPtr heightPic = cameraNodeMap.GetNode("Height");
heightPic->SetValue(tmpValue);
} break;
case Type_Basler_LineSource: {
CEnumerationPtr ptrLineSource = cameraNodeMap.GetNode ("LineSource");
ptrLineSource->SetIntValue(2);
} break;
default:
break;
}
}
double SBaslerCameraControl::GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index)
{
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
switch (index) {
case Type_Basler_ExposureTimeAbs: {
const CFloatPtr exposureTime = cameraNodeMap.GetNode("ExposureTimeAbs");
return exposureTime->GetValue();
} break;
case Type_Basler_GainRaw: {
const CIntegerPtr cameraGen = cameraNodeMap.GetNode("GainRaw");
return cameraGen->GetValue();
} break;
case Type_Basler_AcquisitionFrameRateAbs: {
const CBooleanPtr frameRate = cameraNodeMap.GetNode("AcquisitionFrameRateEnable");
frameRate->SetValue(TRUE);
const CFloatPtr frameRateABS = cameraNodeMap.GetNode("AcquisitionFrameRateAbs");
return frameRateABS->GetValue();
} break;
case Type_Basler_Width: {
const CIntegerPtr widthPic = cameraNodeMap.GetNode("Width");
return widthPic->GetValue();
} break;
case Type_Basler_Height: {
const CIntegerPtr heightPic = cameraNodeMap.GetNode("Height");
return heightPic->GetValue();
} break;
default:
return -1;
break;
}
}
long SBaslerCameraControl::StartAcquire()
{
m_isOpenAcquire = true;
qDebug() << "SBaslerCameraControl IsGrabbing";
try {
qDebug() << "SBaslerCameraControl StartAcquire" << m_currentMode;
if(m_currentMode == "Freerun") {
m_basler.StartGrabbing(GrabStrategy_LatestImageOnly,GrabLoop_ProvidedByInstantCamera);
} else if(m_currentMode == "Software") {
m_basler.StartGrabbing(GrabStrategy_LatestImageOnly);
onTimerGrabImage();
} else if(m_currentMode == "Line1") {
m_basler.StartGrabbing(GrabStrategy_OneByOne);
} else if(m_currentMode == "Line2") {
m_basler.StartGrabbing(GrabStrategy_OneByOne);
}
} catch (GenICam::GenericException &e) {
OutputDebugString(L"StartAcquire error:");
return -2;
}
return 0;
}
long SBaslerCameraControl::StopAcquire()
{
m_isOpenAcquire = false;
qDebug() << "SBaslerCameraControl StopAcquire";
try {
if (m_basler.IsGrabbing()) {
m_basler.StopGrabbing();
}
} catch (GenICam::GenericException &e) {
OutputDebugString(LPCWSTR(e.GetDescription()));
return -2;
}
return 0;
}
long SBaslerCameraControl::GrabImage(QImage &image, int timeout)
{
try {
if (!m_basler.IsGrabbing()) {
StartAcquire();
}
CGrabResultPtr ptrGrabResult;
if(m_currentMode == "Freerun") {
} else if(m_currentMode == "Software") {
if (m_basler.WaitForFrameTriggerReady(1000, TimeoutHandling_Return)) {
m_basler.ExecuteSoftwareTrigger();
m_basler.RetrieveResult(timeout, ptrGrabResult,TimeoutHandling_Return);
}
} else if(m_currentMode == "Line1") {
m_basler.RetrieveResult(timeout, ptrGrabResult, TimeoutHandling_Return);
} else if(m_currentMode == "Line2") {
m_basler.RetrieveResult(timeout, ptrGrabResult, TimeoutHandling_Return);
}
if (ptrGrabResult->GrabSucceeded()) {
if (!ptrGrabResult.IsValid()) { OutputDebugString(L"GrabResult not Valid Error\n"); return -1; }
EPixelType pixelType = ptrGrabResult->GetPixelType();
switch (pixelType) {
case PixelType_Mono8: {
CopyToImage(ptrGrabResult, image);
} break;
case PixelType_BayerRG8: { qDebug() << "what: PixelType_BayerRG8"; } break;
default: qDebug() << "what: default"; break;
}
} else {
OutputDebugString(L"Grab Error!!!");
return -3;
}
} catch (GenICam::GenericException &e) {
OutputDebugString(L"GrabImage Error\n");
return -2;
} catch(...) {
OutputDebugString(L"ZP 11 Shot GetParam Try 12 No know Error\n");
return -1;
}
return 0;
}
如何调用
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include "BaslerCamera/sbaslercameracontrol.h"
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
~MainWindow();
private slots:
void on_pushButton_GetExTime_clicked();
void on_pushButton_SetExTime_clicked();
void on_pushButton_SetMode_clicked();
void on_pushButton_GetMode_clicked();
void on_pushButton_CFMode_clicked();
void on_comboBox_CFMode_activated(int index);
void on_pushButton_Start_clicked();
void on_pushButtonRotate_clicked();
private:
Ui::MainWindow *ui;
SBaslerCameraControl* m_control = Q_NULLPTR;
QMatrix m_matrix;
};
#endif // MAINWINDOW_H
源文件：
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QDebug>
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
m_control = new SBaslerCameraControl(this);
m_control->initSome();
connect(m_control, &SBaslerCameraControl::sigCurrentImage, [=](QImage img){
QPixmap pix = QPixmap::fromImage(img).transformed(m_matrix);
ui->label->setPixmap(pix);
ui->widget_pic->setFixedSize(pix.size());
});
connect(m_control, &SBaslerCameraControl::sigSizeChange, [=](QSize size){
// 默认大小641,494
ui->label_size->setText(QString("\345\260\272\345\257\270:%0*%1").arg(QString::number(size.width())).arg(QString::number(size.height()))); // 尺寸
ui->widget_pic->setFixedSize(size);
});
m_control->OpenCamera(m_control->cameras().first());
}
MainWindow::~MainWindow()
{
m_control->CloseCamera();
m_control->deleteAll();
delete ui;
}
void MainWindow::on_pushButton_GetExTime_clicked()
{
ui->label_exTime->setText(QString::number(m_control->getExposureTime()));
}
void MainWindow::on_pushButton_SetExTime_clicked()
{
m_control->setExposureTime(ui->lineEdit_exTime->text().toDouble());
}
void MainWindow::on_pushButton_SetMode_clicked()
{
m_control->setFeatureTriggerSourceType(ui->lineEdit_SetMode->text());
}
void MainWindow::on_pushButton_GetMode_clicked()
{
ui->label_Mode->setText(m_control->getFeatureTriggerSourceType());
}
void MainWindow::on_pushButton_CFMode_clicked()
{
ui->label_CFMode->setText(m_control->getFeatureTriggerModeType()?"Open":"Close");
}
void MainWindow::on_comboBox_CFMode_activated(int index)
{
m_control->setFeatureTriggerModeType(index == 0);
}
void MainWindow::on_pushButton_Start_clicked()
{
if(ui->pushButton_Start->text() == "\345\274\200\345\247\213\351\207\207\351\233\206") {// 开始采集
m_control->StartAcquire();
ui->pushButton_Start->setText("\347\273\223\346\235\237\351\207\207\351\233\206");// 结束采集
} else {
m_control->StopAcquire();
ui->pushButton_Start->setText("\345\274\200\345\247\213\351\207\207\351\233\206");// 开始采集
}
}
void MainWindow::on_pushButtonRotate_clicked()
{
m_matrix.rotate(90);
}
pro文件
（注意：引用库文件的路径哦）
#------------------------------------------------- # # Project created by QtCreator 2017-12-14T17:55:52 # #------------------------------------------------- QT += core gui greaterThan(QT_MAJOR_VERSION, 4): QT += widgets TARGET = Demo_BaslerCamera TEMPLATE = app CONFIG += c++11 #--------------------------------------------Basler------------------------------------------- INCLUDEPATH += $$PWD/include LIBS += -L$$PWD/lib/Win32 -lGCBase_MD_VC120_v3_0_Basler_pylon_v5_0 -lGenApi_MD_VC120_v3_0_Basler_pylon_v5_0 -lPylonBase_MD_VC120_v5_0 -lPylonC_MD_VC120 -lPylonGUI_MD_VC120_v5_0 -lPylonUtility_MD_VC120_v5_0 #---------------------------------------------------------------------------------------------- SOURCES += main.cpp\ mainwindow.cpp \ BaslerCamera/sbaslercameracontrol.cpp HEADERS += mainwindow.h \ BaslerCamera/sbaslercameracontrol.h FORMS += mainwindow.ui
我把源码已经上传到码云和Github
码云
https://gitee.com/ShaShiDiZhuanLan/Demo_BaslerCamera
Github
https://github.com/ShaShiDiZhuanLan/Demo_BaslerCamera_Qt
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