1200字范文 > Qt（C++）调用工业相机Basler的SDK使用示例

Qt（C++）调用工业相机Basler的SDK使用示例

时间：2021-02-24 03:39:45

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: 5.6.2vc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 0using namespace std;using namespace Pylon;using namespace GenApi;class SBaslerCameraControl : public QObject{Q_OBJECTpublic: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_FreerunptrTrigger->SetIntValue(0);#else //SoftwareptrTrigger->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_OBJECTpublic: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641,494ui->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 -12-14T17:55:52##-------------------------------------------------QT += core guigreaterThan(QT_MAJOR_VERSION, 4): QT += widgetsTARGET = Demo_BaslerCameraTEMPLATE = appCONFIG += c++11#--------------------------------------------Basler-------------------------------------------INCLUDEPATH += $$PWD/includeLIBS += -L$$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.cppHEADERS += mainwindow.h \BaslerCamera/sbaslercameracontrol.hFORMS += mainwindow.ui

我把源码已经上传到码云和Github