Qt（C++）调用工业相机Basler的SDK简单使用示例

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。

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

1. #ifndef SBASLERCAMERACONTROL_H

2. #define SBASLERCAMERACONTROL_H

3.  

4. #include <QObject>

5. #include <pylon/PylonIncludes.h>

6. #include <QImage>

7. #include <QTimer>

8.  

9. #define DOUBLE_MAX 100000

10. #define DOUBLE_MIN 0

11.  

12. using namespace std;

13. using namespace Pylon;

14. using namespace GenApi;

15. class SBaslerCameraControl : public QObject

16. {

17. Q_OBJECT

18. public:

19. explicit SBaslerCameraControl(QObject *parent = 0);

20. ~SBaslerCameraControl();

21.  

22. enum SBaslerCameraControl_Type{

23. Type_Basler_Freerun, //设置相机的内触发

24. Type_Basler_Line1, //设置相机的外触发

25. Type_Basler_ExposureTimeAbs, //设置相机的曝光时间

26. Type_Basler_GainRaw, //设置相机的增益

27. Type_Basler_AcquisitionFrameRateAbs, //设置相机的频率

28. Type_Basler_Width, //图片的宽度

29. Type_Basler_Height, //图片的高度

30. Type_Basler_LineSource, //灯的触发信号

31. };

32. void initSome();

33. void deleteAll();

34. QStringList cameras();

35. int OpenCamera(QString cameraSN);

36. int CloseCamera();

37.  

38. void setExposureTime(double time); // 设置曝光时间

39. int getExposureTime(); // 获取曝光时间

40. int getExposureTimeMin(); // 最小曝光时间

41. int getExposureTimeMax(); // 最大曝光时间

42.  

43. void setFeatureTriggerSourceType(QString type); // 设置种类

44. QString getFeatureTriggerSourceType(); // 获取种类：软触发、外触发等等

45.  

46. void setFeatureTriggerModeType(bool on); // 设置模式触发

47. bool getFeatureTriggerModeType(); // 获取模式触发

48. void SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index, double tmpValue = 0.0); // 设置各种参数

49. double GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index); // 获取各种参数

50.  

51. long GrabImage(QImage& image,int timeout = 2000);

52. long StartAcquire(); // 开始采集

53. long StopAcquire(); // 结束采集

54. signals:

55. void sigCameraUpdate(QStringList list);

56. void sigSizeChange(QSize size);

57. void sigCameraCount(int count);

58. void sigCurrentImage(QImage img);

59. private:

60. void UpdateCameraList();

61. void CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage);

62. private slots:

63. void onTimerGrabImage();

64. private:

65. CInstantCamera m_basler;

66. QStringList m_cameralist;

67. QString m_currentMode;

68. bool m_isOpenAcquire = false; // 是否开始采集

69. bool m_isOpen = false; // 是否打开摄像头

70. QSize m_size;

71. };

72.  

73. #endif // SBASLERCAMERACONTROL_H

74.  

源文件：

1. #include "sbaslercameracontrol.h"

2. #include <QDateTime>

3. #include <QDebug>

4.  

5. SBaslerCameraControl::SBaslerCameraControl(QObject *parent) : QObject(parent)

6. {

7. }

8.  

9. SBaslerCameraControl::~SBaslerCameraControl()

10. {

11. }

12.  

13. void SBaslerCameraControl::initSome()

14. {

15. qDebug() << "SBaslerCameraControl: PylonInitialize initSome" ;

16. PylonInitialize();

17. CTlFactory &TlFactory = CTlFactory::GetInstance();

18. TlInfoList_t lstInfo;

19. int n = TlFactory.EnumerateTls(lstInfo);

20.  

21. TlInfoList_t::const_iterator it;

22. for ( it = lstInfo.begin(); it != lstInfo.end(); ++it ) {

23. qDebug() << "FriendlyName: " << it->GetFriendlyName() << "FullName: " << it->GetFullName();

24. qDebug() << "VendorName: " << it->GetVendorName() << "DeviceClass: " << it->GetDeviceClass() ;

25. }

26. UpdateCameraList();

27. emit sigCameraCount(n);

28. qDebug() << "SBasler Camera Count: " << n;

29. }

30.  

31. void SBaslerCameraControl::deleteAll()

32. {

33. //停止采集

34. if(m_isOpenAcquire) {

35. StopAcquire();

36. }

37. //关闭摄像头

38. CloseCamera();

39. //关闭库

40. qDebug() << "SBaslerCameraControl deleteAll: PylonTerminate" ;

41. PylonTerminate();

42. qDebug() << "SBaslerCameraControl deleteAll: Close" ;

43. }

44.  

45. QStringList SBaslerCameraControl::cameras()

46. {

47. return m_cameralist;

48. }

49.  

50. void SBaslerCameraControl::UpdateCameraList()

51. {

52. CTlFactory& TLFactory = CTlFactory::GetInstance();

53. ITransportLayer * pTl = TLFactory.CreateTl("BaslerGigE");

54. DeviceInfoList_t devices;

55. int n = pTl->EnumerateDevices(devices);

56. CInstantCameraArray cameraArray(devices.size());

57. if(n == 0) {

58. qDebug() << "Cannot find Any camera!";

59. return;

60. }

61. for (int i=0 ; i<cameraArray.GetSize() ; i++) {

62. cameraArray[i].Attach(TLFactory.CreateDevice(devices[i]));

63. string sn = cameraArray[i].GetDeviceInfo().GetSerialNumber();

64. m_cameralist << QString::fromStdString(sn);

65. }

66. emit sigCameraUpdate(m_cameralist);

67. }

68.  

69. void SBaslerCameraControl::CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage)

70. {

71. uchar* buff = (uchar*)pInBuffer->GetBuffer();

72. int nHeight = pInBuffer->GetHeight();

73. int nWidth = pInBuffer->GetWidth();

74. if(m_size != QSize(nWidth, nHeight)) {

75. m_size = QSize(nWidth, nHeight);

76. emit sigSizeChange(m_size);

77. }

78. QImage imgBuff(buff, nWidth, nHeight, QImage::Format_Indexed8);

79. OutImage = imgBuff;

80. if(pInBuffer->GetPixelType() == PixelType_Mono8) {

81. uchar* pCursor = OutImage.bits();

82. if ( OutImage.bytesPerLine() != nWidth ) {

83. for ( int y=0; y<nHeight; ++y ) {

84. pCursor = OutImage.scanLine( y );

85. for ( int x=0; x<nWidth; ++x ) {

86. *pCursor =* buff;

87. ++pCursor;

88. ++buff;

89. }

90. }

91. } else {

92. memcpy( OutImage.bits(), buff, nWidth * nHeight );

93. }

94. }

95. }

96.  

97. void SBaslerCameraControl::onTimerGrabImage()

98. {

99. if(m_isOpenAcquire) {

100. QImage image;

101. GrabImage(image, 5);

102. if(!image.isNull()) {

103. emit sigCurrentImage(image);

104. }

105. QTimer::singleShot(5, this, SLOT(onTimerGrabImage()));

106. }

107. }

108.  

109. int SBaslerCameraControl::OpenCamera(QString cameraSN)

110. {

111. try {

112. CDeviceInfo cInfo;

113. String_t str = String_t(cameraSN.toStdString().c_str());

114. cInfo.SetSerialNumber(str);

115. m_basler.Attach(CTlFactory::GetInstance().CreateDevice(cInfo));

116. m_basler.Open();

117. //获取触发模式

118. getFeatureTriggerSourceType();

119. m_isOpen = true;

120. } catch (GenICam::GenericException &e) {

121. OutputDebugString(L"OpenCamera Error\n");

122. m_isOpen = false;

123. return -2;

124. }

125. return 0;

126. }

127.  

128. int SBaslerCameraControl::CloseCamera()

129. {

130. if(!m_isOpen) {

131. return -1;

132. }

133. try {

134. if(m_basler.IsOpen()) {

135. m_basler.DetachDevice();

136. m_basler.Close();

137. }

138. } catch (GenICam::GenericException &e) {

139. OutputDebugString(LPCWSTR(e.GetDescription()));

140. return -2;

141. }

142. return 0;

143. }

144.  

145. void SBaslerCameraControl::setExposureTime(double time)

146. {

147. SetCamera(Type_Basler_ExposureTimeAbs, time);

148. }

149.  

150. int SBaslerCameraControl::getExposureTime()

151. {

152. return QString::number(GetCamera(Type_Basler_ExposureTimeAbs)).toInt();

153. }

154.  

155. int SBaslerCameraControl::getExposureTimeMin()

156. {

157. return DOUBLE_MIN;

158. }

159.  

160. int SBaslerCameraControl::getExposureTimeMax()

161. {

162. return DOUBLE_MAX;

163. }

164.  

165. void SBaslerCameraControl::setFeatureTriggerSourceType(QString type)

166. {

167. //停止采集

168. if(m_isOpenAcquire) {

169. StopAcquire();

170. }

171. if(type == "Freerun") {

172. SetCamera(Type_Basler_Freerun);

173. } else if(type == "Line1"){

174. SetCamera(Type_Basler_Line1);

175. }

176. }

177.  

178. QString SBaslerCameraControl::getFeatureTriggerSourceType()

179. {

180. INodeMap &cameraNodeMap = m_basler.GetNodeMap();

181. CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");

182. ptrTriggerSel->FromString("FrameStart");

183. CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");

184. ptrTrigger->SetIntValue(1);

185. CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");

186.  

187. String_t str = ptrTriggerSource->ToString();

188. m_currentMode = QString::fromLocal8Bit(str.c_str());

189. return m_currentMode;

190. }

191.  

192. void SBaslerCameraControl::setFeatureTriggerModeType(bool on)

193. {

194. INodeMap &cameraNodeMap = m_basler.GetNodeMap();

195. CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");

196. ptrTriggerSel->FromString("FrameStart");

197. CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");

198. ptrTrigger->SetIntValue(on?1:0);

199. }

200.  

201. bool SBaslerCameraControl::getFeatureTriggerModeType()

202. {

203. INodeMap &cameraNodeMap = m_basler.GetNodeMap();

204. CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");

205. ptrTriggerSel->FromString("FrameStart");

206. CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");

207. return ptrTrigger->GetIntValue() == 1;

208. }

209.  

210. void SBaslerCameraControl::SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index, double tmpValue)

211. {

212. INodeMap &cameraNodeMap = m_basler.GetNodeMap();

213. switch (index) {

214. case Type_Basler_Freerun: {

215. CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");

216. ptrTriggerSel->FromString("FrameStart");

217. CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");

218. #ifdef Real_Freerun

219. ptrTrigger->SetIntValue(0);

220. #else //Software

221. ptrTrigger->SetIntValue(1);

222. CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");

223. ptrTriggerSource->FromString("Software");

224. #endif

225. } break;

226. case Type_Basler_Line1: {

227. CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode ("TriggerSelector");

228. ptrTriggerSel->FromString("FrameStart");

229. CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode ("TriggerMode");

230. ptrTrigger->SetIntValue(1);

231. CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode ("TriggerSource");

232. ptrTriggerSource->FromString("Line1");

233. } break;

234. case Type_Basler_ExposureTimeAbs: {

235. const CFloatPtr exposureTime = cameraNodeMap.GetNode("ExposureTimeAbs");

236. exposureTime->SetValue(tmpValue);

237. } break;

238. case Type_Basler_GainRaw: {

239. const CIntegerPtr cameraGen = cameraNodeMap.GetNode("GainRaw");

240. cameraGen->SetValue(tmpValue);

241. } break;

242. case Type_Basler_AcquisitionFrameRateAbs: {

243. const CBooleanPtr frameRate = cameraNodeMap.GetNode("AcquisitionFrameRateEnable");

244. frameRate->SetValue(TRUE);

245. const CFloatPtr frameRateABS = cameraNodeMap.GetNode("AcquisitionFrameRateAbs");

246. frameRateABS->SetValue(tmpValue);

247. } break;

248. case Type_Basler_Width: {

249. const CIntegerPtr widthPic = cameraNodeMap.GetNode("Width");

250. widthPic->SetValue(tmpValue);

251. } break;

252. case Type_Basler_Height: {

253. const CIntegerPtr heightPic = cameraNodeMap.GetNode("Height");

254. heightPic->SetValue(tmpValue);

255. } break;

256. case Type_Basler_LineSource: {

257. CEnumerationPtr ptrLineSource = cameraNodeMap.GetNode ("LineSource");

258. ptrLineSource->SetIntValue(2);

259. } break;

260. default:

261. break;

262. }

263. }

264.  

265. double SBaslerCameraControl::GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index)

266. {

267. INodeMap &cameraNodeMap = m_basler.GetNodeMap();

268. switch (index) {

269. case Type_Basler_ExposureTimeAbs: {

270. const CFloatPtr exposureTime = cameraNodeMap.GetNode("ExposureTimeAbs");

271. return exposureTime->GetValue();

272. } break;

273. case Type_Basler_GainRaw: {

274. const CIntegerPtr cameraGen = cameraNodeMap.GetNode("GainRaw");

275. return cameraGen->GetValue();

276. } break;

277. case Type_Basler_AcquisitionFrameRateAbs: {

278. const CBooleanPtr frameRate = cameraNodeMap.GetNode("AcquisitionFrameRateEnable");

279. frameRate->SetValue(TRUE);

280. const CFloatPtr frameRateABS = cameraNodeMap.GetNode("AcquisitionFrameRateAbs");

281. return frameRateABS->GetValue();

282. } break;

283. case Type_Basler_Width: {

284. const CIntegerPtr widthPic = cameraNodeMap.GetNode("Width");

285. return widthPic->GetValue();

286. } break;

287. case Type_Basler_Height: {

288. const CIntegerPtr heightPic = cameraNodeMap.GetNode("Height");

289. return heightPic->GetValue();

290. } break;

291. default:

292. return -1;

293. break;

294. }

295. }

296.  

297. long SBaslerCameraControl::StartAcquire()

298. {

299. m_isOpenAcquire = true;

300. qDebug() << "SBaslerCameraControl IsGrabbing";

301. try {

302. qDebug() << "SBaslerCameraControl StartAcquire" << m_currentMode;

303. if(m_currentMode == "Freerun") {

304. m_basler.StartGrabbing(GrabStrategy_LatestImageOnly,GrabLoop_ProvidedByInstantCamera);

305. } else if(m_currentMode == "Software") {

306. m_basler.StartGrabbing(GrabStrategy_LatestImageOnly);

307. onTimerGrabImage();

308. } else if(m_currentMode == "Line1") {

309. m_basler.StartGrabbing(GrabStrategy_OneByOne);

310. } else if(m_currentMode == "Line2") {

311. m_basler.StartGrabbing(GrabStrategy_OneByOne);

312. }

313. } catch (GenICam::GenericException &e) {

314. OutputDebugString(L"StartAcquire error:");

315. return -2;

316. }

317. return 0;

318. }

319.  

320. long SBaslerCameraControl::StopAcquire()

321. {

322. m_isOpenAcquire = false;

323. qDebug() << "SBaslerCameraControl StopAcquire";

324. try {

325. if (m_basler.IsGrabbing()) {

326. m_basler.StopGrabbing();

327. }

328. } catch (GenICam::GenericException &e) {

329. OutputDebugString(LPCWSTR(e.GetDescription()));

330. return -2;

331. }

332. return 0;

333. }

334.  

335. long SBaslerCameraControl::GrabImage(QImage &image, int timeout)

336. {

337. try {

338. if (!m_basler.IsGrabbing()) {

339. StartAcquire();

340. }

341. CGrabResultPtr ptrGrabResult;

342. if(m_currentMode == "Freerun") {

343. } else if(m_currentMode == "Software") {

344. if (m_basler.WaitForFrameTriggerReady(1000, TimeoutHandling_Return)) {

345. m_basler.ExecuteSoftwareTrigger();

346. m_basler.RetrieveResult(timeout, ptrGrabResult,TimeoutHandling_Return);

347. }

348. } else if(m_currentMode == "Line1") {

349. m_basler.RetrieveResult(timeout, ptrGrabResult, TimeoutHandling_Return);

350. } else if(m_currentMode == "Line2") {

351. m_basler.RetrieveResult(timeout, ptrGrabResult, TimeoutHandling_Return);

352. }

353. if (ptrGrabResult->GrabSucceeded()) {

354. if (!ptrGrabResult.IsValid()) { OutputDebugString(L"GrabResult not Valid Error\n"); return -1; }

355. EPixelType pixelType = ptrGrabResult->GetPixelType();

356. switch (pixelType) {

357. case PixelType_Mono8: {

358. CopyToImage(ptrGrabResult, image);

359. } break;

360. case PixelType_BayerRG8: { qDebug() << "what: PixelType_BayerRG8"; } break;

361. default: qDebug() << "what: default"; break;

362. }

363. } else {

364. OutputDebugString(L"Grab Error!!!");

365. return -3;

366. }

367. } catch (GenICam::GenericException &e) {

368. OutputDebugString(L"GrabImage Error\n");

369. return -2;

370. } catch(...) {

371. OutputDebugString(L"ZP 11 Shot GetParam Try 12 No know Error\n");

372. return -1;

373. }

374. return 0;

375. }

如何调用

1. #ifndef MAINWINDOW_H

2. #define MAINWINDOW_H

3.  

4. #include <QMainWindow>

5. #include "BaslerCamera/sbaslercameracontrol.h"

6.  

7. namespace Ui {

8. class MainWindow;

9. }

10.  

11. class MainWindow : public QMainWindow

12. {

13. Q_OBJECT

14.  

15. public:

16. explicit MainWindow(QWidget *parent = 0);

17. ~MainWindow();

18.  

19. private slots:

20. void on_pushButton_GetExTime_clicked();

21. void on_pushButton_SetExTime_clicked();

22. void on_pushButton_SetMode_clicked();

23. void on_pushButton_GetMode_clicked();

24. void on_pushButton_CFMode_clicked();

25. void on_comboBox_CFMode_activated(int index);

26. void on_pushButton_Start_clicked();

27. void on_pushButtonRotate_clicked();

28. private:

29. Ui::MainWindow *ui;

30. SBaslerCameraControl* m_control = Q_NULLPTR;

31. QMatrix m_matrix;

32. };

33.  

34. #endif // MAINWINDOW_H

35.  

源文件：

1. #include "mainwindow.h"

2. #include "ui_mainwindow.h"

3. #include <QDebug>

4.  

5. MainWindow::MainWindow(QWidget *parent) :

6. QMainWindow(parent),

7. ui(new Ui::MainWindow)

8. {

9. ui->setupUi(this);

10. m_control = new SBaslerCameraControl(this);

11. m_control->initSome();

12. connect(m_control, &SBaslerCameraControl::sigCurrentImage, [=](QImage img){

13. QPixmap pix = QPixmap::fromImage(img).transformed(m_matrix);

14. ui->label->setPixmap(pix);

15. ui->widget_pic->setFixedSize(pix.size());

16. });

17. connect(m_control, &SBaslerCameraControl::sigSizeChange, [=](QSize size){

18. // 默认大小641,494

19. 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

20. ui->widget_pic->setFixedSize(size);

21. });

22. m_control->OpenCamera(m_control->cameras().first());

23. }

24.  

25. MainWindow::~MainWindow()

26. {

27. m_control->CloseCamera();

28. m_control->deleteAll();

29. delete ui;

30. }

31.  

32. void MainWindow::on_pushButton_GetExTime_clicked()

33. {

34. ui->label_exTime->setText(QString::number(m_control->getExposureTime()));

35. }

36.  

37. void MainWindow::on_pushButton_SetExTime_clicked()

38. {

39. m_control->setExposureTime(ui->lineEdit_exTime->text().toDouble());

40. }

41.  

42. void MainWindow::on_pushButton_SetMode_clicked()

43. {

44. m_control->setFeatureTriggerSourceType(ui->lineEdit_SetMode->text());

45. }

46.  

47. void MainWindow::on_pushButton_GetMode_clicked()

48. {

49. ui->label_Mode->setText(m_control->getFeatureTriggerSourceType());

50. }

51.  

52. void MainWindow::on_pushButton_CFMode_clicked()

53. {

54. ui->label_CFMode->setText(m_control->getFeatureTriggerModeType()?"Open":"Close");

55. }

56.  

57. void MainWindow::on_comboBox_CFMode_activated(int index)

58. {

59. m_control->setFeatureTriggerModeType(index == 0);

60. }

61.  

62. void MainWindow::on_pushButton_Start_clicked()

63. {

64. if(ui->pushButton_Start->text() == "\345\274\200\345\247\213\351\207\207\351\233\206") {// 开始采集

65. m_control->StartAcquire();

66. ui->pushButton_Start->setText("\347\273\223\346\235\237\351\207\207\351\233\206");// 结束采集

67. } else {

68. m_control->StopAcquire();

69. ui->pushButton_Start->setText("\345\274\200\345\247\213\351\207\207\351\233\206");// 开始采集

70. }

71. }

72.  

73. void MainWindow::on_pushButtonRotate_clicked()

74. {

75. m_matrix.rotate(90);

76. }

pro文件

（注意：引用库文件的路径哦）

1. #-------------------------------------------------

2. #

3. # Project created by QtCreator 2017-12-14T17:55:52

4. #

5. #-------------------------------------------------

6.  

7. QT += core gui

8.  

9. greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

10.  

11. TARGET = Demo_BaslerCamera

12. TEMPLATE = app

13.  

14. CONFIG += c++11

15.  

16. #--------------------------------------------Basler-------------------------------------------

17. INCLUDEPATH += $$PWD/include

18. 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

19. #----------------------------------------------------------------------------------------------

20.  

21. SOURCES += main.cpp\

22. mainwindow.cpp \

23. BaslerCamera/sbaslercameracontrol.cpp

24.  

25. HEADERS += mainwindow.h \

26. BaslerCamera/sbaslercameracontrol.h

27.  

28. FORMS += mainwindow.ui

我把代码已经上传到

码云

https://gitee.com/sand_teacher_younger_brother/Demo_BaslerCamera

以上是Basler相机小Demo。如有问题直接在博客下提问，有时间的小伙伴也可以参与到项目中来……

转：https://blog.csdn.net/u014597198/article/details/78844664