Basler相机windows Opencv开发2

上一个博客讲到如何安装pylon以及他们的一些例程,这一章讲如何用opencv打开basler的gige相机。

虽然用常规的方法打开工业相机是没有问题的，但是这种方法不好设置相机的参数。

1. 新建一个控制台程序的工程，设置属性管理器。

添加i包含目录

C:\Program Files\Basler\pylon 5\Development\include\pylon

C:\Program Files\Basler\pylon 5\Development\include

和库目录

C:\Program Files\Basler\pylon 5\Development\lib\x64

如果安装目录不同，读者根据自己的电脑安装路径修改这两个目录。

2.配置opencv

3.代码

我用到的最重要的几个参数是 图像的长宽，offset,曝光时间。读者可根据自己的相机和需要设置这几个参数

int64_t newWidth = 1626; 
int64_t newHeight = 196;
int64_t exposuretime = 1000;
int64_t  Yoffset=450;

函数

extern bool imageProcessmain(Mat &frame);

是图像处理函数，内容写在其他cpp文件里。如果返回值是0则下面的主函数的死循环会退出。返回值为1时会继续获取新的图像。

// Grab.cpp
/*
Note: Before getting started, Basler recommends reading the Programmer's Guide topic
in the pylon C++ API documentation that gets installed with pylon.
If you are upgrading to a higher major version of pylon, Basler also
strongly recommends reading the Migration topic in the pylon C++ API documentation.

This sample illustrates how to grab and process images using the CInstantCamera class.
The images are grabbed and processed asynchronously, i.e.,
while the application is processing a buffer, the acquisition of the next buffer is done
in parallel.

The CInstantCamera class uses a pool of buffers to retrieve image data
from the camera device. Once a buffer is filled and ready,
the buffer can be retrieved from the camera object for processing. The buffer
and additional image data are collected in a grab result. The grab result is
held by a smart pointer after retrieval. The buffer is automatically reused
when explicitly released or when the smart pointer object is destroyed.
*/

// Include files to use the PYLON API.
#include <pylon/PylonIncludes.h>
#ifdef PYLON_WIN_BUILD
#    include <pylon/PylonGUI.h>
#endif

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv.hpp>
#include <opencv2/highgui/highgui.hpp>  
#include "opencv2/objdetect/objdetect.hpp"
#include <opencv2/imgproc/imgproc.hpp>   
#include <highgui.h>

#define USE_GIGE 1


using namespace Pylon;
using namespace GenApi;
using namespace cv;
using namespace std;

//通过修改这部分来改变延时//开始和停止抓取会影响帧率
static const uint32_t c_countOfImagesToGrab = 10000;
uint32_t c_count = c_countOfImagesToGrab;
/
重要参数设置
int64_t newWidth = 1626; 
int64_t newHeight = 196;
int64_t exposuretime = 1000;
int64_t  Yoffset=450;
///
#include <pylon/PylonIncludes.h>

// Namespace for using pylon objects.
using namespace Pylon;

#if defined( USE_1394 )
// Setting for using  Basler IEEE 1394 cameras.
#include <pylon/1394/Basler1394InstantCamera.h>
typedef Pylon::CBasler1394InstantCamera Camera_t;
using namespace Basler_IIDC1394CameraParams;
#elif defined ( USE_GIGE )
// Setting for using Basler GigE cameras.
#include <pylon/gige/BaslerGigEInstantCamera.h>
typedef Pylon::CBaslerGigEInstantCamera Camera_t;
using namespace Basler_GigECameraParams;
#elif defined ( USE_CAMERALINK )
// Setting for using Basler Camera Link cameras.
#include <pylon/cameralink/BaslerCameraLinkInstantCamera.h>
typedef Pylon::CBaslerCameraLinkInstantCamera Camera_t;
using namespace Basler_CLCameraParams;
#elif defined ( USE_USB )
// Setting for using Basler USB cameras.
#include <pylon/usb/BaslerUsbInstantCamera.h>
typedef Pylon::CBaslerUsbInstantCamera Camera_t;
using namespace Basler_UsbCameraParams;
#else
#error Camera type is not specified. For example, define USE_GIGE for using GigE cameras.
#endif
//
 

int64_t Adjust(int64_t val, int64_t minimum, int64_t maximum, int64_t inc)
{
	// Check the input parameters.
	if (inc <= 0)
	{
		// Negative increments are invalid.
		throw LOGICAL_ERROR_EXCEPTION("Unexpected increment %d", inc);
	}
	if (minimum > maximum)
	{
		// Minimum must not be bigger than or equal to the maximum.
		throw LOGICAL_ERROR_EXCEPTION("minimum bigger than maximum.");
	}

	// Check the lower bound.
	if (val < minimum)
	{
		return minimum;
	}

	// Check the upper bound.
	if (val > maximum)
	{
		return maximum;
	}

	// Check the increment.
	if (inc == 1)
	{
		// Special case: all values are valid.
		return val;
	}
	else
	{
		// The value must be min + (n * inc).
		// Due to the integer division, the value will be rounded down.
		return minimum + (((val - minimum) / inc) * inc);
	}
}
extern bool imageProcessmain(Mat &frame);
///
int main(int argc, char* argv[])
{
	
	cv::CommandLineParser parser(argc, argv,
		"{h||}"
		"{w||}"
		"{t||}"
		"{o||}"
		);
	if (parser.has("h"))
	{
		newHeight=parser.get<double>("h");
	}
	if (parser.has("w"))
	{
		newWidth = parser.get<double>("w");
	}
	if (parser.has("t"))
	{
		exposuretime = parser.get<double>("t");
	}
	if (parser.has("o"))
	{
		Yoffset = parser.get<double>("o");
	}
	// The exit code of the sample application.
	int exitCode = 0;

	// Before using any pylon methods, the pylon runtime must be initialized. 
	PylonInitialize();

	try
	{
		// Create an instant camera object with the camera device found first.
		//	CInstantCamera camera(CTlFactory::GetInstance().CreateFirstDevice());


		///
		CDeviceInfo info;
		info.SetDeviceClass(Camera_t::DeviceClass());

		// Create an instant camera object with the first found camera device matching the specified device class.
		Camera_t camera(CTlFactory::GetInstance().CreateFirstDevice(info));

		// Print the model name of the camera.
		cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;

		// Open the camera.
		camera.Open();
		///

		// Print the model name of the camera.
		cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
		/
		camera.PixelFormat.SetValue(PixelFormat_Mono8);
		

		// Some properties have restrictions. Use GetInc/GetMin/GetMax to make sure you set a valid value.
		
		newWidth = Adjust(newWidth, camera.Width.GetMin(), camera.Width.GetMax(), camera.Width.GetInc());
		
		newHeight = Adjust(newHeight, camera.Height.GetMin(), camera.Height.GetMax(), camera.Height.GetInc());
		camera.Width.SetValue(newWidth);
		camera.Height.SetValue(newHeight);
		if (IsWritable(camera.OffsetX))
		{
			camera.OffsetX.SetValue(camera.OffsetX.GetMin());
		}
		if (IsWritable(camera.OffsetY))
		{
			camera.OffsetY.SetValue(Yoffset);
		}
		cout << "OffsetX          : " << camera.OffsetX.GetValue() << endl;
		cout << "OffsetY          : " << camera.OffsetY.GetValue() << endl;
		cout << "Width            : " << camera.Width.GetValue() << endl;
		cout << "Height           : " << camera.Height.GetValue() << endl;
		
		
		//Disable acquisition start trigger if available
		{
			GenApi::IEnumEntry* acquisitionStart = camera.TriggerSelector.GetEntry(TriggerSelector_AcquisitionStart);
			if (acquisitionStart && GenApi::IsAvailable(acquisitionStart))
			{
				camera.TriggerSelector.SetValue(TriggerSelector_AcquisitionStart);
				camera.TriggerMode.SetValue(TriggerMode_Off);
			}
		}
		//Disable frame start trigger if available
		{
			GenApi::IEnumEntry* frameStart = camera.TriggerSelector.GetEntry(TriggerSelector_FrameStart);
			if (frameStart && GenApi::IsAvailable(frameStart))
			{  
				camera.TriggerSelector.SetValue(TriggerSelector_FrameStart);
				camera.TriggerMode.SetValue(TriggerMode_Off);
			}
		}
	//	camera.AcquisitionMode.SetValue(AcquisitionMode_SingleFrame);
		/
		// The parameter MaxNumBuffer can be used to control the count of buffers
		// allocated for grabbing. The default value of this parameter is 10.
		camera.MaxNumBuffer = 5;

		// Start the grabbing of c_countOfImagesToGrab images.
		// The camera device is parameterized with a default configuration which
		// sets up free-running continuous acquisition.
		camera.StartGrabbing(c_countOfImagesToGrab);

		// This smart pointer will receive the grab result data.
		CGrabResultPtr ptrGrabResult;
		CImageFormatConverter formatConverter;
		formatConverter.OutputPixelFormat = PixelType_BGR8packed;
		Mat openCvImage;
		CPylonImage pylonImage;
		/  设置曝光时间部分
		camera.GainAuto.SetValue(GainAuto_Off);
		camera.GainRaw.SetValue(camera.GainRaw.GetMin());
		camera.ExposureAuto.SetValue(ExposureAuto_Off);
		camera.ExposureTimeRaw.SetValue(exposuretime);
		


		// Camera.StopGrabbing() is called automatically by the RetrieveResult() method
		// when c_countOfImagesToGrab images have been retrieved.
		while (camera.IsGrabbing())
		{
			c_count--;
			// Wait for an image and then retrieve it. A timeout of 5000 ms is used.
			camera.RetrieveResult(5000, ptrGrabResult, TimeoutHandling_ThrowException);

			// Image grabbed successfully?
			if (ptrGrabResult->GrabSucceeded())
			{
				// Access the image data.
				//cout << "SizeX: " << ptrGrabResult->GetWidth() << endl;
				//cout << "SizeY: " << ptrGrabResult->GetHeight() << endl;
				const uint8_t *pImageBuffer = (uint8_t *)ptrGrabResult->GetBuffer();
				//cout << "Gray value of first pixel: " << (uint32_t)pImageBuffer[0] << endl << endl;
				formatConverter.Convert(pylonImage, ptrGrabResult);
				// Create an OpenCV image out of pylon image
				openCvImage = cv::Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC3, (uint8_t *)pylonImage.GetBuffer());			
				bool ProcessResult;			 
				ProcessResult=  imageProcessmain(openCvImage);
				if (ProcessResult )
				{
					if (c_count == 0)
					{ 
					   c_count = c_countOfImagesToGrab;
					   camera.StartGrabbing(c_countOfImagesToGrab);
					}
					
				}
				else
				{
					camera.StopGrabbing();
				}

#ifdef PYLON_WIN_BUILD
				// Display the grabbed image.
				//Pylon::DisplayImage(1, ptrGrabResult);
#endif
			}
			else
			{
				cout << "Error: " << ptrGrabResult->GetErrorCode() << " " << ptrGrabResult->GetErrorDescription() << endl;
			}
		}
	}
	catch (const GenericException &e)
	{
		// Error handling.
		cerr << "An exception occurred." << endl
			<< e.GetDescription() << endl;
		exitCode = 1;
	}

	// Comment the following two lines to disable waiting on exit.
	//cerr << endl << "Press Enter to exit." << endl;
	//while (cin.get() != '\n');

	// Releases all pylon resources. 
	PylonTerminate();

	return exitCode;
}