basler相机的触发线是那两脚_Qt（C++）调用工业相机Basler的SDK使用示例

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

#include

#include

#include

#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

#include

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[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

pCursor = OutImage.scanLine( y );

for ( int x=0; 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

#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

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

Github

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