Basler相機實時圖像顯示--Qt代碼

Balser相機

​ 前段時間，因爲項目需要，師傅讓我用Qt寫巴斯勒相機實時畫面的顯示，網上找了好多資料，愚笨的我也沒有弄明白該如何寫，從相機的SDK中找到了用MFC寫的例子，咱也沒用過MFC呀，看不懂哎，最後師傅出馬，寫了一下，相機圖像轉換的位置師傅用他之前寫的圖像轉換類，屬於公司產品，我例子中就沒用這個類，轉而用opencv進行轉換(網上找到的方法)，本文後面會附上源碼。

本程序的環境：

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

pylon 6.0.0 : Pylon 6.0 下載地址

vs下的頭文件包含

下面只說明Balser的頭文件包含，opencv 和qt的頭文件包含這裏忽略。

下載好之後，包含include

在其中填寫如下路徑：

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

XXX\Development\Samples\C++\include路徑也可以不包含，我是用來測試sample程序的，本源碼就是仿照XXX/Development\Samples\C++\GUI_MFC這個Demo來寫的。

下面來包含lib：

在其中填寫如下路徑：

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

源碼講解：

main.c

#include "BaslerCamera_RealTimeShow.h"
#include <QtWidgets/QApplication>


class PreWork
{
public:
	PreWork()
	{
		Pylon::PylonInitialize();//相機的初始化程序，把它理解爲安裝
	}

	~PreWork()
	{
		Pylon::PylonTerminate();//停止運行相機的執行函數，把它理解爲卸載
	}
};

int main(int argc, char *argv[])
{
  PreWork p;
   //主要說明這一點，巧用構造函數和析構函數，來對相機進行安裝和卸載
    
  QApplication a(argc, argv);

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

Basler.c

#include "BaslerCamera_RealTimeShow.h"
#include <QDebug>
#include <QPainter>
#include <QRect>

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);//安裝Qt的事件過濾器

    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;//將捕獲到的圖像傳遞出去

  //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對象.
	CImageFormatConverter formatConverter;

	Mat openCvImage;
	QPainter painter(ui.centralWidget);

	//確定輸出像素格式
	formatConverter.OutputPixelFormat = PixelType_BGR8packed;
	//將抓取的緩衝數據轉化成pylon image.
	formatConverter.Convert(m_bitmapImage, m_ptrGrabResult);

	// 將 pylon image轉成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 <QtWidgets/QMainWindow>
#include "ui_BaslerCamera_RealTimeShow.h"
#include "AutoPacketSizeConfiguration.h"

//加載PYLON API.
#include <pylon/PylonIncludes.h>
#include <pylon/gige/BaslerGigECamera.h>
#include <iostream>
#include <QMutex>


// 加載OpenCV API
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/video/video.hpp>
#include <opencv2/opencv.hpp>

//命名空間.
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內容很簡單，執行安裝和卸載的函數

Balser.c在這裏着重說明一下：

先說一下Balser獲取實時圖像的原理吧，網上也有很多，這裏按照我的理解寫一下。

1、Basler獲取實時圖像是一張一張的拍照，拍照-顯示-拍照-顯示…，所以我們看到的就是連續的圖像。

2、Basler是事件驅動的，當拍完一張照片之後，會觸發事件，然後執行的Balser提供的OnImageGrabbed函數， 這個原理可以理解爲Qt的信號-槽

Balser.c的程序流程

捕獲圖像 —> 觸發信號(事件)—> 執行OnImageGrabbed（）函數，將圖像保存到我們定義的類中(這裏注意下m_mutexLock.lock();的使用，因爲巴斯勒相機處理圖像是多線程的，所以在使用變量的時候，要用線程鎖保護)—>發送我們自定義的信號-因爲構造函數已經連接好了信號與槽-執行OneImageFinishSlot（）中的updata觸發 event事件，判斷該窗體時centralWidget，事件爲QEvent::Paint，執行顯示函數showImage（）。顯示函數就是把圖像轉換一下格式，用Painter畫一下圖（也用到了線程鎖）

最後的源碼:

​ 總結一下，本人實力有限，寫的比較囉嗦，希望大家能看懂。

​ 如果大家下載源碼，附上CSDN和Gitee鏈接，如果大家CSDN積分多，就贊助點小弟，如果沒有積分，請使用Gitee鏈接。

最後附上下載鏈接：

CSDN鏈接地址:CSDN

Gitee鏈接地址：Gitee