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Qt（C++）调用工业相机Basler的SDK使用教程

2020-03-05 | 秩名 | 点击：次

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

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

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#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：

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#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

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#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：

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#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）

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#-------------------------------------------------
#
# 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

原文链接：https://blog.csdn.net/u014597198/article/details/78844664
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