Basler相机实时图像显示--Qt代码

Balser相机

​ 前段时间，因为项目需要，师傅让我用Qt写巴斯勒相机实时画面的显示，网上找了好多资料，愚笨的我也没有弄明白该如何写，从相机的SDK中找到了用MFC写的例子，咱也没用过MFC呀，看不懂哎，最后师傅出马，写了一下，相机图像转换的位置师傅用他之前写的图像转换类，属于公司产品，我例子中就没用这个类，转而用opencv进行转换(网上找到的方法)，本文后面会附上源码。

本程序的环境：

Pylon 6.0.0 + Opencv 4.1.0 +Qt 5.12.3 + Vs 2017 Community

pylon 6.0.0 : Pylon 6.0 下载地址

vs下的头文件包含

下面只说明Balser的头文件包含，opencv 和qt的头文件包含这里忽略。

下载好之后，包含include

在其中填写如下路径：

XXX\Development\include
XXX\Development\Samples\C++\include 

XXX\Development\Samples\C++\include路径也可以不包含，我是用来测试sample程序的，本源码就是仿照XXX/Development\Samples\C++\GUI_MFC这个Demo来写的。

下面来包含lib：

在其中填写如下路径：

XXX/Development\lib\x64 #我用的是X64版本的，X86请改为Win32

源码讲解：

main.c

#include "BaslerCamera_RealTimeShow.h"
#include 


class PreWork
{
public:
	PreWork()
	{
		Pylon::PylonInitialize();//相机的初始化程序，把它理解为安装
	}

	~PreWork()
	{
		Pylon::PylonTerminate();//停止运行相机的执行函数，把它理解为卸载
	}
};

int main(int argc, char *argv[])
{
  PreWork p;
   //主要说明这一点，巧用构造函数和析构函数，来对相机进行安装和卸载
    
  QApplication a(argc, argv);

  BaslerCamera_RealTimeShow w;
  w.show();
  return a.exec();
}

Basler.c

#include "BaslerCamera_RealTimeShow.h"
#include 
#include 
#include 

BaslerCamera_RealTimeShow::BaslerCamera_RealTimeShow(QWidget *parent)
    : QMainWindow(parent)
{
    ui.setupUi(this);

    m_camera.RegisterImageEventHandler(this, Pylon::RegistrationMode_ReplaceAll, Pylon::Ownership_ExternalOwnership);
    // Register this object as a configuration event handler, so we will be notified of camera state changes.
    // See Pylon::CConfigurationEventHandler for details
    m_camera.RegisterConfiguration(this, Pylon::RegistrationMode_ReplaceAll, Pylon::Ownership_ExternalOwnership);

    // Add the AutoPacketSizeConfiguration and let pylon delete it when not needed anymore.
    m_camera.RegisterConfiguration(new CAutoPacketSizeConfiguration(), Pylon::RegistrationMode_Append, Pylon::Cleanup_Delete);

  	m_camera.Attach(Pylon::CTlFactory::GetInstance().CreateFirstDevice(), Pylon::Cleanup_Delete);

    m_camera.Open();

    // Camera may have been disconnected.
    if (!m_camera.IsOpen() || m_camera.IsGrabbing())
    {
      return;
    }

    // Since we may switch between single and continuous shot, we must configure the camera accordingly.
    // The predefined configurations are only executed once when the camera is opened.
    // To be able to use them in our use case, we just call them explicitly to apply the configuration.
    m_continousConfiguration.OnOpened(m_camera);

    // Start grabbing until StopGrabbing() is called.
    m_camera.StartGrabbing(Pylon::GrabStrategy_OneByOne, Pylon::GrabLoop_ProvidedByInstantCamera);

    ui.centralWidget->installEventFilter(this);//安装Qt的事件过滤器

    connect(this, SIGNAL(OneImageFinishSignal()), this, SLOT(OneImageFinishSlot()));

}

void BaslerCamera_RealTimeShow::OnImagesSkipped(Pylon::CInstantCamera& camera, size_t countOfSkippedImages)
{

}
void BaslerCamera_RealTimeShow::OnImageGrabbed(Pylon::CInstantCamera& camera, const Pylon::CGrabResultPtr& grabResult)
{

  m_mutexLock.lock();

  m_ptrGrabResult = grabResult;//将捕获到的图像传递出去

  //qDebug() << __FUNCTION__;

  emit OneImageFinishSignal();

  m_mutexLock.unlock();
  
}

void BaslerCamera_RealTimeShow::OneImageFinishSlot()
{
  //qDebug() << __FUNCTION__;
  ui.centralWidget->update();
}
bool BaslerCamera_RealTimeShow::eventFilter(QObject *watched, QEvent *event)
{
  if (watched == ui.centralWidget && event->type() == QEvent::Paint)
  {
    showImage();
  }
  return false;
}
void BaslerCamera_RealTimeShow::showImage()
{	
  
  m_mutexLock.lock();

  //qDebug() << "123" << endl;

	// 新建pylon ImageFormatConverter对象.
	CImageFormatConverter formatConverter;

	Mat openCvImage;
	QPainter painter(ui.centralWidget);

	//确定输出像素格式
	formatConverter.OutputPixelFormat = PixelType_BGR8packed;
	//将抓取的缓冲数据转化成pylon image.
	formatConverter.Convert(m_bitmapImage, m_ptrGrabResult);

	// 将 pylon image转成OpenCV image.
	openCvImage = cv::Mat(m_ptrGrabResult->GetHeight(), m_ptrGrabResult->GetWidth(), CV_8UC3, (uint8_t *)m_bitmapImage.GetBuffer());

	QImage img((const unsigned char *)(openCvImage.data), openCvImage.cols, openCvImage.rows, openCvImage.cols * 3, QImage::Format_RGB888);

	QRectF target;
	target.setLeft(0);
	target.setTop(0);
	target.setSize(this->size());

	QRectF source;
	source.setLeft(0);
	source.setTop(0);
	source.setSize(img.size());

	painter.drawImage(target,img, source);

  m_mutexLock.unlock();


}

// Pylon::CConfigurationEventHandler functions
void BaslerCamera_RealTimeShow::OnAttach(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnAttached(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnDetach(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnDetached(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnDestroy(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnDestroyed(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnOpen(Pylon::CInstantCamera& camera)
{
  Pylon::String_t strFriendlyName = camera.GetDeviceInfo().GetFriendlyName();
  qDebug() << __FUNCTION__ << " - " << strFriendlyName.c_str();
}


void BaslerCamera_RealTimeShow::OnOpened(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnClose(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnClosed(Pylon::CInstantCamera& camera)
{
  Pylon::String_t strFriendlyName = camera.GetDeviceInfo().GetFriendlyName();
  qDebug() << __FUNCTION__ << " - " << strFriendlyName.c_str();
}


void BaslerCamera_RealTimeShow::OnGrabStart(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnGrabStarted(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnGrabStop(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnGrabStopped(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
  m_camera.DeregisterConfiguration(&m_continousConfiguration);
}


void BaslerCamera_RealTimeShow::OnGrabError(Pylon::CInstantCamera& camera, const char* errorMessage)
{
  qDebug() << __FUNCTION__;
}


void BaslerCamera_RealTimeShow::OnCameraDeviceRemoved(Pylon::CInstantCamera& camera)
{
  qDebug() << __FUNCTION__;
}

BaslerCamera_RealTimeShow::~BaslerCamera_RealTimeShow()
{
   Perform cleanup.
  if (m_camera.IsPylonDeviceAttached())
  {
    try
    {
      // Close camera.
      // This will also stop the grab.
      m_camera.Close();

      // Free the camera.
      // This will also stop the grab and close the camera.
      m_camera.DestroyDevice();
    }
    catch (const Pylon::GenericException& e)
    {
      qDebug() << e.what();
    }
  }
}

Balser.h

#pragma once

#include 
#include "ui_BaslerCamera_RealTimeShow.h"
#include "AutoPacketSizeConfiguration.h"

//加载PYLON API.
#include 
#include 
#include 
#include 


// 加载OpenCV API
#include 
#include 
#include 
#include 

//命名空间.
using namespace Pylon;
using namespace std;
using namespace cv;

class BaslerCamera_RealTimeShow : public QMainWindow                                     
                                    , public Pylon::CImageEventHandler             // Allows you to get informed about received images and grab errors.
                                    , public Pylon::CConfigurationEventHandler     // Allows you to get informed about device removal.

{
    Q_OBJECT

signals:
  void OneImageFinishSignal();
private slots:
  void OneImageFinishSlot();

public:
    BaslerCamera_RealTimeShow(QWidget *parent = Q_NULLPTR);
    ~BaslerCamera_RealTimeShow();

private:
    Ui::BaslerCamera_RealTimeShowClass ui;

    Pylon::CInstantCamera m_camera;
    // The grab result retrieved from the camera
    Pylon::CGrabResultPtr m_ptrGrabResult;
    // The grab result as a windows DIB to be displayed on the screen
    Pylon::CPylonBitmapImage m_bitmapImage;
    Pylon::CAcquireContinuousConfiguration m_continousConfiguration;

    QMutex m_mutexLock;

protected:
	  void showImage();
    virtual bool eventFilter(QObject *watched, QEvent *event);
  
    // Pylon::CImageEventHandler functions
    virtual void OnImagesSkipped(Pylon::CInstantCamera& camera, size_t countOfSkippedImages);
    virtual void OnImageGrabbed(Pylon::CInstantCamera& camera, const Pylon::CGrabResultPtr& grabResult);

    // Pylon::CConfigurationEventHandler functions
    virtual void OnAttach(Pylon::CInstantCamera& camera);
    virtual void OnAttached(Pylon::CInstantCamera& camera);
    virtual void OnDetach(Pylon::CInstantCamera& camera);
    virtual void OnDetached(Pylon::CInstantCamera& camera);
    virtual void OnDestroy(Pylon::CInstantCamera& camera);
    virtual void OnDestroyed(Pylon::CInstantCamera& camera);
    virtual void OnOpen(Pylon::CInstantCamera& camera);
    virtual void OnOpened(Pylon::CInstantCamera& camera);
    virtual void OnClose(Pylon::CInstantCamera& camera);
    virtual void OnClosed(Pylon::CInstantCamera& camera);
    virtual void OnGrabStart(Pylon::CInstantCamera& camera);
    virtual void OnGrabStarted(Pylon::CInstantCamera& camera);
    virtual void OnGrabStop(Pylon::CInstantCamera& camera);
    virtual void OnGrabStopped(Pylon::CInstantCamera& camera);
    virtual void OnGrabError(Pylon::CInstantCamera& camera, const char* errorMessage);
    virtual void OnCameraDeviceRemoved(Pylon::CInstantCamera& camera);

};

main.c内容很简单，执行安装和卸载的函数

Balser.c在这里着重说明一下：

先说一下Balser获取实时图像的原理吧，网上也有很多，这里按照我的理解写一下。

1、Basler获取实时图像是一张一张的拍照，拍照-显示-拍照-显示…，所以我们看到的就是连续的图像。

2、Basler是事件驱动的，当拍完一张照片之后，会触发事件，然后执行的Balser提供的OnImageGrabbed函数， 这个原理可以理解为Qt的信号-槽

Balser.c的程序流程

捕获图像 —> 触发信号(事件)—> 执行OnImageGrabbed（）函数，将图像保存到我们定义的类中(这里注意下m_mutexLock.lock();的使用，因为巴斯勒相机处理图像是多线程的，所以在使用变量的时候，要用线程锁保护)—>发送我们自定义的信号-因为构造函数已经连接好了信号与槽-执行OneImageFinishSlot（）中的updata触发 event事件，判断该窗体时centralWidget，事件为QEvent::Paint，执行显示函数showImage（）。显示函数就是把图像转换一下格式，用Painter画一下图（也用到了线程锁）

最后的源码:

​ 总结一下，本人实力有限，写的比较啰嗦，希望大家能看懂。

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最后附上下载链接：

CSDN链接地址:CSDN

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