Qt版Dalsa线扫相机的采集Demo

0.程序运行效果

1.工程文件

#-------------------------------------------------
#
# Project created by QtCreator 2022-10-27T11:46:55
#
#-------------------------------------------------

QT       += core gui

greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

TARGET = SaperaGigEVisionCameraDemo
TEMPLATE = app

# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS

# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0

CONFIG += c++11

SOURCES += \
        dalsacamera.cpp \
        main.cpp \
        dalsacamerawidget.cpp

HEADERS += \
        dalsacamera.h \
        dalsacamerawidget.h

FORMS += \
        dalsacamerawidget.ui

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

RESOURCES += \
    images.qrc

INCLUDEPATH += "C:/Program Files/Teledyne DALSA/Sapera/Include"
INCLUDEPATH += "C:/Program Files/Teledyne DALSA/Sapera/Classes/Basic"

LIBS += "C:/Program Files/Teledyne DALSA/Sapera/Lib/Win64/corapi.lib"
LIBS += "C:/Program Files/Teledyne DALSA/Sapera/Lib/Win64/SapClassBasic.lib"

INCLUDEPATH += C:\opencv\build\include
QMAKE_LIBDIR  += "C:/opencv/build/x64/vc15/lib"
win32:LIBS    += "C:/opencv/build/x64/vc15/lib/opencv_world453d.lib" \
              "C:/opencv/build/x64/vc15/lib/opencv_world453.lib"

2. 相机类文件

//dalsacamera.h

#ifndef DALSACAMERA_H
#define DALSACAMERA_H

#include 

#include "SapClassBasic.h"

#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core/core.hpp"
#if (CV_MAJOR_VERSION >= 3)
    #include "opencv2/videoio/videoio.hpp"
#endif

#include 

using namespace cv;

typedef struct
{
    double  dGain;
    double  dExpoureTime;
    double  dLineRate;
    BOOL    bTriggerMode;
    UINT32  nWidth;
    UINT32  nHeight;
    UINT32  nOffsetX;
} CONSTANTLY_CHANGING_PARAMS;

class DalsaCamera : public QObject
{
    Q_OBJECT
public:
    explicit DalsaCamera(QObject *parent = nullptr, QString servername = QString("Linea_M4096-7um_1"));
    ~DalsaCamera();

    BOOL CreateObjects();
    BOOL DestroyObjects();

    void OnGrab();
    void OnSnap();
    void OnFreeze();

    static void XferCallback(SapXferCallbackInfo *pInfo);

protected:
    //dalsa commonly used data structure
    SapAcqDevice	*m_AcqDevice;
    SapBuffer		*m_Buffers;
    SapTransfer		*m_Xfer;

    //dalsa camera some feature and status
    bool           m_isconnected;
    QString        m_SN;
    long           m_frameId;
    QString        m_servername;

    //dalsa configure file releted
    bool           m_bUseConfigFile;
    QString        m_configureFileName;
    QString        m_configureFileDirectory;

    //constantly changing parameters, will show in GUI
    CONSTANTLY_CHANGING_PARAMS m_objParameters;



signals:
    void canShowImages(cv::Mat im);
    void signalSettingsChanged(CONSTANTLY_CHANGING_PARAMS camerafeatures);

public slots:
    //methods to support parameter operator
    void saveSettings(CONSTANTLY_CHANGING_PARAMS camerafeatures);

public:
    void initCamera();
    void destroyCamera();

    //methods to support parameter operator
    void loadSettings();
};

#endif // DALSACAMERA_H

//dalsacamera.cpp

#include "dalsacamera.h"
#include 

#include 
#include 
#include 

DalsaCamera::DalsaCamera(QObject *parent, QString servername) : QObject(parent)
  ,m_AcqDevice(nullptr)
  ,m_Buffers(nullptr)
  ,m_Xfer(nullptr)
  ,m_isconnected(false)
  ,m_SN("")
  ,m_frameId(0)
  ,m_servername(servername)
{
    initCamera();
}

DalsaCamera::~DalsaCamera()
{
    destroyCamera();
}


BOOL DalsaCamera::CreateObjects()
{
    // Create acquisition object
    if (m_AcqDevice && !*m_AcqDevice && !m_AcqDevice->Create())
   {
      DestroyObjects();
      return FALSE;
   }

    // Create buffer object
    if (m_Buffers && !*m_Buffers)
    {
        if( !m_Buffers->Create())
        {
            DestroyObjects();
            return FALSE;
        }
        // Clear all buffers
        m_Buffers->Clear();
    }

   // Set next empty with trash cycle mode for transfer
   if (m_Xfer && m_Xfer->GetPair(0))
   {
      if (!m_Xfer->GetPair(0)->SetCycleMode(SapXferPair::CycleNextWithTrash))
      {
         DestroyObjects();
         return FALSE;
      }
   }

    // Create transfer object
    if (m_Xfer && !*m_Xfer && !m_Xfer->Create())
   {
      DestroyObjects();
      return FALSE;
   }

    return TRUE;
}

BOOL DalsaCamera::DestroyObjects()
{
    // Destroy transfer object
    if (m_Xfer && *m_Xfer) m_Xfer->Destroy();

    // Destroy buffer object
    if (m_Buffers && *m_Buffers) m_Buffers->Destroy();

    // Destroy acquisition object
    if (m_AcqDevice && *m_AcqDevice) m_AcqDevice->Destroy();

    return TRUE;
}

void DalsaCamera::XferCallback(SapXferCallbackInfo *pInfo)
{
    qDebug() << "Call back function called successfully!" << endl;

    DalsaCamera *pDlg = (DalsaCamera *)pInfo->GetContext();
    pDlg->m_frameId++;

    BYTE byteData;
    void *pData = &byteData;

    bool success=pDlg->m_Buffers->GetAddress(&pData);
    if (!success)
    {
        return;
    }
    int width = pDlg->m_Buffers->GetWidth();
    int height = pDlg->m_Buffers->GetHeight();
    cv::Mat im=cv::Mat(height,width,CV_8UC1,(uchar*)pData).clone();
    cv::GaussianBlur(im,im,cv::Size(3,3),1);
    //show image or send image to handle
    emit pDlg->canShowImages(im);

    pDlg->m_Buffers->ReleaseAddress((void*)pData);
    pDlg->m_Buffers->Clear(pDlg->m_Buffers->GetIndex());
}

void DalsaCamera::initCamera()
{
    SapLocation loc(m_servername.toLatin1().data(), 0);
    m_AcqDevice = new SapAcqDevice(loc, FALSE);
    m_Buffers = new SapBufferWithTrash(3, m_AcqDevice);
    m_Xfer = new SapAcqDeviceToBuf(m_AcqDevice,m_Buffers,XferCallback,this);

    if (CreateObjects() == true){
        qDebug() << "Camera connected successfully!" << endl;
        char featureStringValue[64];
        m_AcqDevice->GetFeatureValue("DeviceSerialNumber",featureStringValue,sizeof(featureStringValue));
        QString str(featureStringValue);
        m_SN=str;
        m_isconnected=true;
    }
}

void DalsaCamera::destroyCamera()
{
    if(m_Xfer->IsGrabbing())
        m_Xfer->Freeze();

    DestroyObjects();

    if (m_Xfer)		delete m_Xfer;
    if (m_Buffers)  delete m_Buffers;
    if (m_AcqDevice)		delete m_AcqDevice;
}

void DalsaCamera::OnGrab()
{
    if(m_Xfer){
        m_Xfer->Grab();
    }
}

void DalsaCamera::OnSnap()
{
    if(m_Xfer)
    {
        m_Xfer->Snap();
    }
}

void DalsaCamera::OnFreeze()
{
    if(m_Xfer){
        m_Xfer->Freeze();
    }
}

void DalsaCamera::loadSettings()
{
    if (m_AcqDevice)
    {
        m_AcqDevice->GetFeatureValue("Gain",&m_objParameters.dGain);
        m_AcqDevice->GetFeatureValue("ExposureTime",&m_objParameters.dExpoureTime);
        m_AcqDevice->GetFeatureValue("AcquisitionLineRate",&m_objParameters.dLineRate);
        m_AcqDevice->GetFeatureValue("TriggerMode",&m_objParameters.bTriggerMode);
        m_AcqDevice->GetFeatureValue("Width",&m_objParameters.nWidth);
        m_AcqDevice->GetFeatureValue("Height",&m_objParameters.nHeight);
        m_AcqDevice->GetFeatureValue("OffsetX",&m_objParameters.nOffsetX);

        emit signalSettingsChanged(m_objParameters);
    }
}

void DalsaCamera::saveSettings(CONSTANTLY_CHANGING_PARAMS camerafeatures)
{
    std::memcpy(&m_objParameters,&camerafeatures, sizeof(CONSTANTLY_CHANGING_PARAMS));
    if (m_AcqDevice)
    {
        m_AcqDevice->SetUpdateFeatureMode(SapAcqDevice::UpdateFeatureManual);

        m_AcqDevice->SetFeatureValue("Gain",m_objParameters.dGain);
        m_AcqDevice->SetFeatureValue("ExposureTime",m_objParameters.dExpoureTime);
        m_AcqDevice->SetFeatureValue("AcquisitionLineRate",m_objParameters.dLineRate);
        m_AcqDevice->SetFeatureValue("TriggerMode",m_objParameters.bTriggerMode);
        m_AcqDevice->SetFeatureValue("Width",m_objParameters.nWidth);
        m_AcqDevice->SetFeatureValue("Height",m_objParameters.nHeight);
        m_AcqDevice->SetFeatureValue("OffsetX",m_objParameters.nOffsetX);

        m_AcqDevice->UpdateFeaturesToDevice();
        m_AcqDevice->SetUpdateFeatureMode(SapAcqDevice::UpdateFeatureAuto);
    }
}

//窗口主程序

#ifndef DALSACAMERAWIDGET_H
#define DALSACAMERAWIDGET_H

#include 
#include "dalsacamera.h"

namespace Ui {
class DalsaCameraWidget;
}

class DalsaCameraWidget : public QWidget
{
    Q_OBJECT

    enum ServerCategory
    {
       ServerAll,
       ServerAcq,
       ServerAcqDevice
    };

public:
    explicit DalsaCameraWidget(QWidget *parent = nullptr);
    ~DalsaCameraWidget();

private slots:
    void on_pushButton_Exit_clicked();
    void on_pushButton_snap_clicked();
    void on_pushButton_grab_clicked();
    void on_pushButton_freeze_clicked();

    void showImages(cv::Mat im);
    void updateFeaturesOnGUI(CONSTANTLY_CHANGING_PARAMS camerafeatures);

    void on_pushButton_OK_clicked();

    void on_comboBoxServer_currentIndexChanged(int index);

    void on_comboBox_trigmode_currentIndexChanged(int index);

private:
    Ui::DalsaCameraWidget *ui;

    ServerCategory m_serverCategory;
    bool m_bShowCameraLinkServers;
    int m_resourceIndex;
    bool bCameraChanged;

    QString m_serverName;

    void InitServerCombo();
    void InitResourceCombo();

    void loadSettings();
    void saveSettings(CONSTANTLY_CHANGING_PARAMS camerafeatures);

    DalsaCamera* dcam;
//    DalsaCamera dcam;

};

#endif // DALSACAMERAWIDGET_H

//dalsawidget.cpp

#include "dalsacamerawidget.h"
#include "ui_dalsacamerawidget.h"

#include 

DalsaCameraWidget::DalsaCameraWidget(QWidget *parent) :
    QWidget(parent)
    ,ui(new Ui::DalsaCameraWidget)
    ,m_serverCategory(ServerAcqDevice)
    ,m_bShowCameraLinkServers(false)
    ,m_resourceIndex(-1)
    ,bCameraChanged(false)
    ,dcam(nullptr)
{
    ui->setupUi(this);

    InitServerCombo();
    InitResourceCombo();

    dcam =  new DalsaCamera(NULL, m_serverName);

    qRegisterMetaType("cv::Mat");
    qRegisterMetaType("constantly_changing_params");

    connect(dcam, SIGNAL(canShowImages(cv::Mat)),this, SLOT(showImages(cv::Mat)));
    connect(dcam, SIGNAL(signalSettingsChanged(CONSTANTLY_CHANGING_PARAMS)),this, SLOT(updateFeaturesOnGUI(CONSTANTLY_CHANGING_PARAMS)));

    loadSettings();
}

DalsaCameraWidget::~DalsaCameraWidget()
{
    delete ui;

}

void DalsaCameraWidget::on_pushButton_Exit_clicked()
{
    this->close();
}

void DalsaCameraWidget::on_pushButton_snap_clicked()
{
    qDebug() << "snap clicked!" << endl;

    if (dcam != NULL)
    dcam->OnSnap();
//    dcam.OnSnap();
}

void DalsaCameraWidget::on_pushButton_grab_clicked()
{
    qDebug() << "grab clicked!" << endl;

    if (dcam != NULL)
    dcam->OnGrab();
//    dcam.OnGrab();
}

void DalsaCameraWidget::on_pushButton_freeze_clicked()
{
    qDebug() << "freeze clicked!" << endl;

    if (dcam != NULL)
    dcam->OnFreeze();
//    dcam.OnFreeze();
}

void DalsaCameraWidget::showImages(Mat im)
{
    QImage img = QImage((const unsigned char*)(im.data),
                        im.cols, im.rows, QImage::Format_Mono);

    img = img.scaled(ui->label_image->size(), Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
    ui->label_image->setPixmap(QPixmap::fromImage(img));
}

void DalsaCameraWidget::InitServerCombo()
{
    for (int i = 0; i < SapManager::GetServerCount(); i++)
    {
       if (!SapManager::IsServerAccessible(i))
          continue;

       // Does this server support "Acq" (frame-grabber) or "AcqDevice" (camera)?

       bool bAcq = (m_serverCategory == ServerAcq || m_serverCategory == ServerAll)
          && (SapManager::GetResourceCount(i, SapManager::ResourceAcq) > 0);

       // when m_serverCategory is ServerAcqDevice, show only servers that have only one resource that is an acqdevice and no acq
       bool bAcqDevice = (m_serverCategory == ServerAcqDevice || m_serverCategory == ServerAll)
          && (SapManager::GetResourceCount(i, SapManager::ResourceAcqDevice) == 1) && (SapManager::GetResourceCount(i, SapManager::ResourceAcq) == 0);

       if (bAcq || bAcqDevice || m_bShowCameraLinkServers)
       {
          char name[128];
          if (SapManager::GetServerName(i, name, sizeof(name)))
          {
             if (strstr(name, "CameraLink_") != NULL)
             {
                if (bAcq || m_bShowCameraLinkServers)
                   ui->comboBoxServer->addItem(name);
             }
             // Exclude Z-Trak from the server list
             else if (strstr(name, "LP1") == NULL && strstr(name, "LP2") == NULL)
             {
                // Add server name to combo
                ui->comboBoxServer->addItem(name);
             }
          }
       }
    }

    // At least one server must be available
    if (ui->comboBoxServer->count() <= 0)
    {
       return;
    }

    // Select server name
    if(ui->comboBoxServer->findText(m_serverName) == -1)
    {
       // If not found, select first one
       ui->comboBoxServer->setCurrentIndex(0);
       m_serverName = ui->comboBoxServer->currentText();
    }
}

void DalsaCameraWidget::InitResourceCombo()
{
    int i = 0;

    // Clear combo content
    ui->comboBoxResource->clear();

    // Check if the server name is present on the system
    if (SapManager::GetServerIndex(m_serverName.toLatin1().data()) != SapLocation::ServerUnknown)
    {
       // Add "Acq" resources (frame-grabbers) to combo
       for (i = 0; i < SapManager::GetResourceCount(m_serverName.toLatin1().data(), SapManager::ResourceAcq); i++)
       {
          char name[128];
          if (SapManager::GetResourceName(m_serverName.toLatin1().data(), SapManager::ResourceAcq, i, name, sizeof(name)))
             if (SapManager::IsResourceAvailable(m_serverName.toLatin1().data(), SapManager::ResourceAcq, i) == FALSE)
                CorSnprintf(name, sizeof(name), "%s", "Not Available - Resource In Use");
          ui->comboBoxResource->addItem(name);
       }

       // Add "AcqDevice" resources (cameras) to combo only if there are no frame grabber resources
       if (SapManager::GetResourceCount(m_serverName.toLatin1().data(), SapManager::ResourceAcq) == 0)
       {
          for (i = 0; i < SapManager::GetResourceCount(m_serverName.toLatin1().data(), SapManager::ResourceAcqDevice); i++)
          {
             char name[128];
             if (SapManager::GetResourceName(m_serverName.toLatin1().data(), SapManager::ResourceAcqDevice, i, name, sizeof(name)))
                ui->comboBoxResource->addItem(name);
          }
       }
    }

    // Select resource index
    if(m_resourceIndex < ui->comboBoxResource->count() && m_resourceIndex >=0)
    {
        ui->comboBoxResource->setCurrentIndex(m_resourceIndex);
    } else
    {
       // If not found, select first one
       ui->comboBoxResource->setCurrentIndex(0);
       m_resourceIndex = 0;
    }
}

void DalsaCameraWidget::on_pushButton_OK_clicked()
{
    CONSTANTLY_CHANGING_PARAMS camerafeatures;

    camerafeatures.dGain = ui->lineEdit_gain->text().toDouble();
    camerafeatures.dExpoureTime = ui->lineEdit_exposure->text().toDouble();
    camerafeatures.dLineRate = ui->lineEdit_lineRate->text().toDouble();

    if(ui->comboBox_trigmode->currentIndex() == 0)
    {
        camerafeatures.bTriggerMode = false;
    } else{
        camerafeatures.bTriggerMode = true;
    }

    camerafeatures.nWidth = ui->lineEdit_width->text().toUInt();
    camerafeatures.nHeight = ui->lineEdit_height->text().toUInt();
    camerafeatures.nOffsetX = ui->lineEdit_xoffset->text().toUInt();

    saveSettings(camerafeatures);
}

void DalsaCameraWidget::on_comboBoxServer_currentIndexChanged(int index)
{
    ui->comboBoxServer->setCurrentIndex(index);

    QString tmpServerName = ui->comboBoxServer->currentText();
    if (m_serverName != tmpServerName)
    {
        m_serverName = tmpServerName;
        if (dcam != NULL) {
            disconnect(dcam, SIGNAL(canShowImages(cv::Mat)),this, SLOT(showImages(cv::Mat)));
            disconnect(dcam, SIGNAL(signalSettingsChanged(CONSTANTLY_CHANGING_PARAMS)),this, SLOT(updateFeaturesOnGUI(CONSTANTLY_CHANGING_PARAMS)));

            delete dcam;
            dcam =  new DalsaCamera(NULL, m_serverName);

            connect(dcam, SIGNAL(canShowImages(cv::Mat)),this, SLOT(showImages(cv::Mat)));
            connect(dcam, SIGNAL(signalSettingsChanged(CONSTANTLY_CHANGING_PARAMS)),this, SLOT(updateFeaturesOnGUI(CONSTANTLY_CHANGING_PARAMS)));
        }
    }

    InitResourceCombo();
    loadSettings();
}


void DalsaCameraWidget::on_comboBox_trigmode_currentIndexChanged(int index)
{
    ui->comboBox_trigmode->setCurrentIndex(index);
}

void DalsaCameraWidget::loadSettings()
{
    if (dcam != NULL){
        dcam->loadSettings();
    }
}

void DalsaCameraWidget::saveSettings(CONSTANTLY_CHANGING_PARAMS camerafeatures)
{
    if (dcam != NULL){
        dcam->saveSettings(camerafeatures);
    }
}

void DalsaCameraWidget::updateFeaturesOnGUI(CONSTANTLY_CHANGING_PARAMS camerafeatures)
{
    ui->lineEdit_gain->setText(QString::number(camerafeatures.dGain));
    ui->lineEdit_exposure->setText(QString::number(camerafeatures.dExpoureTime));
    ui->lineEdit_lineRate->setText(QString::number(camerafeatures.dLineRate));

    if(camerafeatures.bTriggerMode == true)
    {
        ui->comboBox_trigmode->setCurrentIndex(1);
    } else{
        ui->comboBox_trigmode->setCurrentIndex(0);
    }

    ui->lineEdit_width->setText(QString::number(camerafeatures.nWidth));
    ui->lineEdit_height->setText(QString::number(camerafeatures.nHeight));
    ui->lineEdit_xoffset->setText(QString::number(camerafeatures.nOffsetX));
}

4. 主程序

#include "dalsacamerawidget.h"
#include 

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    DalsaCameraWidget w;
    w.show();

    return a.exec();
}

5. 界面文件xml格式

 DalsaCameraWidget
 
  
   
    0
    0
    741
    505
   
  
  
   
    0
    0
   
  
  
   Sapera GigE-Vision Camera Demo
  
  
   
    
     
      
     
     
      :/image/images/DalsaBanner.bmp
     
    
   
   
    
     
      
       
        QLayout::SetDefaultConstraint
       
       
        
         
          
           0
           0
          
         
         
          Acquisition Control
         
         
          
           
            
             Snap
            
           
          
          
           
            
             Grab
            
           
          
          
           
            
             Freeze
            
           
          
         
        
       
       
        
         
          Qt::Horizontal
         
         
          
           68
           20
          
         
        
       
       
        
         
          OK
         
        
       
       
        
         
          Exit
         
        
       
      
     
     
      
       
        
         
          
           
            Acquistion Option
           
           
            
             
            
            
             
            
           
          
         
         
          
           
            General Settings
           
           
            
             
              
               Gain
              
             
            
            
             
              
               1
              
             
            
            
             
              
               Exposure
              
             
            
            
             
              
               50
              
             
            
            
             
              
               lineRate
              
             
            
            
             
              
               TrigMode
              
             
            
            
             
              
               
                off
               
              
              
               
                on
               
              
             
            
            
             
              
               Width
              
             
            
            
             
              
               Hight
              
             
            
            
             
              
               1024
              
             
            
            
             
              
               Xoffset
              
             
            
            
             
              
               0
              
             
            
            
             
              
               3333.33
              
             
            
            
             
              
               4096