QT调用basler SDK 多线程多相机采集代码

#include "grabthread_camera01.h" #include <QDateTime> #include <QDebug> #include <QTimer> grabthread_camera01::grabthread_camera01(Imagebuffer *imageBuffer) : QThread(), imageBuffer(imageBuffer) { stopped = false; } void grabthread_camera01::initialize() { qDebug() << "SBaslerCameraControl: PylonInitialize initSome"; PylonInitialize(); UserID = string ("23435356");//你的相机ID /*cameras[i].Attach(tlFactory.CreateDevice(devices[i])); if (UserID == cameras[i].GetDeviceInfo().GetSerialNumber()) { m_basler.Attach(CTlFactory::GetInstance().CreateDevice(UserID)); break; }*/ connectcamera(); } bool grabthread_camera01::connectcamera() { CTlFactory &tlFactory = CTlFactory::GetInstance(); DeviceInfoList_t devices; if (tlFactory.EnumerateDevices(devices) == 0) { throw RUNTIME_EXCEPTION("没有检测到可用相机！"); } int n = devices.size(); CInstantCameraArray cameras(min(devices.size(), maxCameras)); for (int i = 0; i < (int)cameras.GetSize(); i++) { cameras[i].Attach(tlFactory.CreateDevice(devices[i])); string sn = cameras[i].GetDeviceInfo().GetSerialNumber(); if (sn == UserID ) { cameras[i].DetachDevice(); //cameras[i].Close(); m_basler.Attach(tlFactory.CreateDevice(devices[i])); break; } cameras[i].DetachDevice(); } return true; } void grabthread_camera01::run() { StartAcquire(); } void grabthread_camera01::CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage) { try { uchar* buff = (uchar*)pInBuffer->GetBuffer(); int nHeight = pInBuffer->GetHeight(); int nWidth = pInBuffer->GetWidth(); QImage imgBuff(buff, nWidth, nHeight, QImage::Format_Indexed8); OutImage = imgBuff; } catch (GenICam::GenericException &e) { qDebug() << "CopyToImage Error:" << QString(e.GetDescription()); } } int grabthread_camera01::OpenCamera() { try { m_basler.Open(); //获取触发模式 //bool OKopen = m_basler.IsOpen(); m_isOpen = true; shezhicanshu(); } catch (GenICam::GenericException &e) { OutputDebugString(L"OpenCamera Error\n"); qDebug() << "OpenCamera Error" << QString(e.GetDescription()); m_isOpen = false; return -2; } return 0; } void grabthread_camera01::onTimerGrabImage() { //if (m_isOpenAcquire) while (!stopped) { QImage image; GrabImage(image, 50); if (!image.isNull()) { emit sigCurrentImage01(image); //imageBuffer->addGrabImage01(image); qDebug() << "1111"; } //sleep(20); } //QImage image; //GrabImage(image, 5); //if (!image.isNull()) //{ // //emit sigCurrentImage(image); // //imageBuffer->addGrabImage01(image); // qDebug() << "1234:" ; // } //QTimer::singleShot(100,this,SLOT(onTimerGrabImage())); //sleep(20); } int grabthread_camera01::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())); qDebug() << "CloseCamera Error:" << QString(e.GetDescription()); return -2; } return 0; } void grabthread_camera01::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"; } //************* int grabthread_camera01::shezhicanshu() { INodeMap &cameraNodeMap = m_basler.GetNodeMap(); CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode("TriggerSelector"); ptrTriggerSel->FromString("FrameStart"); CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode("TriggerMode"); ptrTrigger->SetIntValue(1); CEnumerationPtr ptrTriggerAcqMode = cameraNodeMap.GetNode("AcquisitionMode"); ptrTriggerAcqMode->FromString("Continuous"); CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode("TriggerSource"); ptrTriggerSource->FromString("Software"); String_t str = ptrTriggerSource->ToString(); m_currentMode = QString::fromLocal8Bit(str.c_str()); const CFloatPtr exposureTime = cameraNodeMap.GetNode("ExposureTime"); exposureTime->SetValue(10000); return 0; } long grabthread_camera01::StartAcquire() { stopped = false; m_isOpenAcquire = true; try { qDebug() << "SBaslerCameraControl StartAcquire" << m_currentMode; if (m_currentMode == "Software") { m_basler.StartGrabbing(GrabStrategy_LatestImageOnly); onTimerGrabImage(); } } catch (GenICam::GenericException &e) { // OutputDebugString(L"StartAcquire error:"); qDebug() << "StartAcquire Error:" << QString(e.GetDescription()); return -2; } return 0; } long grabthread_camera01::StopAcquire() { m_isOpenAcquire = false; qDebug() << "SBaslerCameraControl StopAcquire"; try { if (m_basler.IsGrabbing()) { m_basler.StopGrabbing(); } } catch (GenICam::GenericException &e) { //OutputDebugString(LPCWSTR(e.GetDescription())); qDebug() << "StopAcquire Error:" << QString(e.GetDescription()); return -2; } return 0; } long grabthread_camera01::GrabImage(QImage &image, int timeout) { try { if (!m_basler.IsGrabbing()) { StartAcquire(); } CGrabResultPtr ptrGrabResult; 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); } if (ptrGrabResult == NULL) { return -5; } if (ptrGrabResult->GrabSucceeded()) { qDebug() << "what: 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 { qDebug() << "Grab Error!!!"; // OutputDebugString(L"Grab Error!!!"); return -3; } } catch (GenICam::GenericException &e) { // OutputDebugString(L"GrabImage Error\n"); qDebug() << "GrabImage Error:" << QString(e.GetDescription()); // OutputDebugString((e.GetDescription())); return -2; } catch (...) { OutputDebugString(L"ZP 11 Shot GetParam Try 12 No know Error\n"); return -1; } return 0; } void grabthread_camera01::stop() { stopped = true; StopAcquire(); }