由于公司采购的AVT相机不足，需要用Basler相机来弥补，所以我也了解了一下Basler这款相机的SDK。由于Basler这边的相机提供的没有提供Qt的示例，所以我做一个分享出来。
开发环境
Qt: 5.6.2vc2013版
Basler: 5.0.11版
效果图
上图只是做了SDK部分接口的获取和设置。相机的触发方式、曝光时间、增益、频率，以及图片的尺寸、灯的触发信号等。
Basler相机SDK接口调用控制类
-
#ifndef SBASLERCAMERACONTROL_H
-
#define SBASLERCAMERACONTROL_H
-
-
#include <QObject>
-
#include <pylon/PylonIncludes.h>
-
#include <QImage>
-
#include <QTimer>
-
-
#define DOUBLE_MAX 100000
-
#define DOUBLE_MIN 0
-
-
using
namespace
std;
-
using
namespace Pylon;
-
using
namespace GenApi;
-
class SBaslerCameraControl :
public QObject
-
{
-
Q_OBJECT
-
public:
-
explicit SBaslerCameraControl(QObject *parent = 0);
-
~SBaslerCameraControl();
-
-
enum SBaslerCameraControl_Type{
-
Type_Basler_Freerun,
//设置相机的内触发
-
Type_Basler_Line1,
//设置相机的外触发
-
Type_Basler_ExposureTimeAbs,
//设置相机的曝光时间
-
Type_Basler_GainRaw,
//设置相机的增益
-
Type_Basler_AcquisitionFrameRateAbs,
//设置相机的频率
-
Type_Basler_Width,
//图片的宽度
-
Type_Basler_Height,
//图片的高度
-
Type_Basler_LineSource,
//灯的触发信号
-
};
-
void initSome();
-
void deleteAll();
-
QStringList cameras();
-
int OpenCamera(QString cameraSN);
-
int CloseCamera();
-
-
void setExposureTime(double time);
// 设置曝光时间
-
int getExposureTime();
// 获取曝光时间
-
int getExposureTimeMin();
// 最小曝光时间
-
int getExposureTimeMax();
// 最大曝光时间
-
-
void setFeatureTriggerSourceType(QString type);
// 设置种类
-
QString getFeatureTriggerSourceType();
// 获取种类：软触发、外触发等等
-
-
void setFeatureTriggerModeType(bool on);
// 设置模式触发
-
bool getFeatureTriggerModeType();
// 获取模式触发
-
void SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index, double tmpValue = 0.0);
// 设置各种参数
-
double GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index);
// 获取各种参数
-
-
long GrabImage(QImage& image,int timeout = 2000);
-
long StartAcquire();
// 开始采集
-
long StopAcquire();
// 结束采集
-
signals:
-
void sigCameraUpdate(QStringList list);
-
void sigSizeChange(QSize size);
-
void sigCameraCount(int count);
-
void sigCurrentImage(QImage img);
-
private:
-
void UpdateCameraList();
-
void CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage);
-
private slots:
-
void onTimerGrabImage();
-
private:
-
CInstantCamera m_basler;
-
QStringList m_cameralist;
-
QString m_currentMode;
-
bool m_isOpenAcquire =
false;
// 是否开始采集
-
bool m_isOpen =
false;
// 是否打开摄像头
-
QSize m_size;
-
};
-
-
#endif // SBASLERCAMERACONTROL_H
源文件：
-
#include "sbaslercameracontrol.h"
-
#include <QDateTime>
-
#include <QDebug>
-
-
SBaslerCameraControl::SBaslerCameraControl(QObject *parent) : QObject(parent)
-
{
-
}
-
-
SBaslerCameraControl::~SBaslerCameraControl()
-
{
-
}
-
-
void SBaslerCameraControl::initSome()
-
{
-
qDebug() <<
"SBaslerCameraControl: PylonInitialize initSome" ;
-
PylonInitialize();
-
CTlFactory &TlFactory = CTlFactory::GetInstance();
-
TlInfoList_t lstInfo;
-
int n = TlFactory.EnumerateTls(lstInfo);
-
-
TlInfoList_t::const_iterator it;
-
for ( it = lstInfo.begin(); it != lstInfo.end(); ++it ) {
-
qDebug() <<
"FriendlyName: " << it->GetFriendlyName() <<
"FullName: " << it->GetFullName();
-
qDebug() <<
"VendorName: " << it->GetVendorName() <<
"DeviceClass: " << it->GetDeviceClass() ;
-
}
-
UpdateCameraList();
-
emit sigCameraCount(n);
-
qDebug() <<
"SBasler Camera Count: " << n;
-
}
-
-
void SBaslerCameraControl::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" ;
-
}
-
-
QStringList SBaslerCameraControl::cameras()
-
{
-
return m_cameralist;
-
}
-
-
void SBaslerCameraControl::UpdateCameraList()
-
{
-
CTlFactory& TLFactory = CTlFactory::GetInstance();
-
ITransportLayer * pTl = TLFactory.CreateTl(
"BaslerGigE");
-
DeviceInfoList_t devices;
-
int n = pTl->EnumerateDevices(devices);
-
CInstantCameraArray cameraArray(devices.size());
-
if(n ==
0) {
-
qDebug() <<
"Cannot find Any camera!";
-
return;
-
}
-
for (
int i=
0 ; i<cameraArray.GetSize() ; i++) {
-
cameraArray[i].Attach(TLFactory.CreateDevice(devices[i]));
-
string sn = cameraArray[i].GetDeviceInfo().GetSerialNumber();
-
m_cameralist << QString::fromStdString(sn);
-
}
-
emit sigCameraUpdate(m_cameralist);
-
}
-
-
void SBaslerCameraControl::CopyToImage(CGrabResultPtr pInBuffer, QImage &OutImage)
-
{
-
uchar* buff = (uchar*)pInBuffer->GetBuffer();
-
int nHeight = pInBuffer->GetHeight();
-
int nWidth = pInBuffer->GetWidth();
-
if(m_size != QSize(nWidth, nHeight)) {
-
m_size = QSize(nWidth, nHeight);
-
emit sigSizeChange(m_size);
-
}
-
QImage imgBuff(buff, nWidth, nHeight, QImage::Format_Indexed8);
-
OutImage = imgBuff;
-
if(pInBuffer->GetPixelType() == PixelType_Mono8) {
-
uchar* pCursor = OutImage.bits();
-
if ( OutImage.bytesPerLine() != nWidth ) {
-
for (
int y=
0; y<nHeight; ++y ) {
-
pCursor = OutImage.scanLine( y );
-
for (
int x=
0; x<nWidth; ++x ) {
-
*pCursor =* buff;
-
++pCursor;
-
++buff;
-
}
-
}
-
}
else {
-
memcpy( OutImage.bits(), buff, nWidth * nHeight );
-
}
-
}
-
}
-
-
void SBaslerCameraControl::onTimerGrabImage()
-
{
-
if(m_isOpenAcquire) {
-
QImage image;
-
GrabImage(image,
5);
-
if(!image.isNull()) {
-
emit sigCurrentImage(image);
-
}
-
QTimer::singleShot(
5,
this, SLOT(onTimerGrabImage()));
-
}
-
}
-
-
int SBaslerCameraControl::OpenCamera(QString cameraSN)
-
{
-
try {
-
CDeviceInfo cInfo;
-
String_t str = String_t(cameraSN.toStdString().c_str());
-
cInfo.SetSerialNumber(str);
-
m_basler.Attach(CTlFactory::GetInstance().CreateDevice(cInfo));
-
m_basler.Open();
-
//获取触发模式
-
getFeatureTriggerSourceType();
-
m_isOpen =
true;
-
}
catch (GenICam::GenericException &e) {
-
OutputDebugString(
L"OpenCamera Error\n");
-
m_isOpen =
false;
-
return
-2;
-
}
-
return
0;
-
}
-
-
int SBaslerCameraControl::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()));
-
return
-2;
-
}
-
return
0;
-
}
-
-
void SBaslerCameraControl::setExposureTime(
double time)
-
{
-
SetCamera(Type_Basler_ExposureTimeAbs, time);
-
}
-
-
int SBaslerCameraControl::getExposureTime()
-
{
-
return QString::number(GetCamera(Type_Basler_ExposureTimeAbs)).toInt();
-
}
-
-
int SBaslerCameraControl::getExposureTimeMin()
-
{
-
return DOUBLE_MIN;
-
}
-
-
int SBaslerCameraControl::getExposureTimeMax()
-
{
-
return DOUBLE_MAX;
-
}
-
-
void SBaslerCameraControl::setFeatureTriggerSourceType(QString type)
-
{
-
//停止采集
-
if(m_isOpenAcquire) {
-
StopAcquire();
-
}
-
if(type ==
"Freerun") {
-
SetCamera(Type_Basler_Freerun);
-
}
else
if(type ==
"Line1"){
-
SetCamera(Type_Basler_Line1);
-
}
-
}
-
-
QString SBaslerCameraControl::getFeatureTriggerSourceType()
-
{
-
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
-
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode (
"TriggerSelector");
-
ptrTriggerSel->FromString(
"FrameStart");
-
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode (
"TriggerMode");
-
ptrTrigger->SetIntValue(
1);
-
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode (
"TriggerSource");
-
-
String_t str = ptrTriggerSource->ToString();
-
m_currentMode = QString::fromLocal8Bit(str.c_str());
-
return m_currentMode;
-
}
-
-
void SBaslerCameraControl::setFeatureTriggerModeType(
bool on)
-
{
-
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
-
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode (
"TriggerSelector");
-
ptrTriggerSel->FromString(
"FrameStart");
-
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode (
"TriggerMode");
-
ptrTrigger->SetIntValue(on?
1:
0);
-
}
-
-
bool SBaslerCameraControl::getFeatureTriggerModeType()
-
{
-
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
-
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode (
"TriggerSelector");
-
ptrTriggerSel->FromString(
"FrameStart");
-
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode (
"TriggerMode");
-
return ptrTrigger->GetIntValue() ==
1;
-
}
-
-
void SBaslerCameraControl::SetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index,
double tmpValue)
-
{
-
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
-
switch (index) {
-
case Type_Basler_Freerun: {
-
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode (
"TriggerSelector");
-
ptrTriggerSel->FromString(
"FrameStart");
-
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode (
"TriggerMode");
-
#ifdef Real_Freerun
-
ptrTrigger->SetIntValue(
0);
-
#else //Software
-
ptrTrigger->SetIntValue(
1);
-
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode (
"TriggerSource");
-
ptrTriggerSource->FromString(
"Software");
-
#endif
-
}
break;
-
case Type_Basler_Line1: {
-
CEnumerationPtr ptrTriggerSel = cameraNodeMap.GetNode (
"TriggerSelector");
-
ptrTriggerSel->FromString(
"FrameStart");
-
CEnumerationPtr ptrTrigger = cameraNodeMap.GetNode (
"TriggerMode");
-
ptrTrigger->SetIntValue(
1);
-
CEnumerationPtr ptrTriggerSource = cameraNodeMap.GetNode (
"TriggerSource");
-
ptrTriggerSource->FromString(
"Line1");
-
}
break;
-
case Type_Basler_ExposureTimeAbs: {
-
const CFloatPtr exposureTime = cameraNodeMap.GetNode(
"ExposureTimeAbs");
-
exposureTime->SetValue(tmpValue);
-
}
break;
-
case Type_Basler_GainRaw: {
-
const CIntegerPtr cameraGen = cameraNodeMap.GetNode(
"GainRaw");
-
cameraGen->SetValue(tmpValue);
-
}
break;
-
case Type_Basler_AcquisitionFrameRateAbs: {
-
const CBooleanPtr frameRate = cameraNodeMap.GetNode(
"AcquisitionFrameRateEnable");
-
frameRate->SetValue(TRUE);
-
const CFloatPtr frameRateABS = cameraNodeMap.GetNode(
"AcquisitionFrameRateAbs");
-
frameRateABS->SetValue(tmpValue);
-
}
break;
-
case Type_Basler_Width: {
-
const CIntegerPtr widthPic = cameraNodeMap.GetNode(
"Width");
-
widthPic->SetValue(tmpValue);
-
}
break;
-
case Type_Basler_Height: {
-
const CIntegerPtr heightPic = cameraNodeMap.GetNode(
"Height");
-
heightPic->SetValue(tmpValue);
-
}
break;
-
case Type_Basler_LineSource: {
-
CEnumerationPtr ptrLineSource = cameraNodeMap.GetNode (
"LineSource");
-
ptrLineSource->SetIntValue(
2);
-
}
break;
-
default:
-
break;
-
}
-
}
-
-
double SBaslerCameraControl::GetCamera(SBaslerCameraControl::SBaslerCameraControl_Type index)
-
{
-
INodeMap &cameraNodeMap = m_basler.GetNodeMap();
-
switch (index) {
-
case Type_Basler_ExposureTimeAbs: {
-
const CFloatPtr exposureTime = cameraNodeMap.GetNode(
"ExposureTimeAbs");
-
return exposureTime->GetValue();
-
}
break;
-
case Type_Basler_GainRaw: {
-
const CIntegerPtr cameraGen = cameraNodeMap.GetNode(
"GainRaw");
-
return cameraGen->GetValue();
-
}
break;
-
case Type_Basler_AcquisitionFrameRateAbs: {
-
const CBooleanPtr frameRate = cameraNodeMap.GetNode(
"AcquisitionFrameRateEnable");
-
frameRate->SetValue(TRUE);
-
const CFloatPtr frameRateABS = cameraNodeMap.GetNode(
"AcquisitionFrameRateAbs");
-
return frameRateABS->GetValue();
-
}
break;
-
case Type_Basler_Width: {
-
const CIntegerPtr widthPic = cameraNodeMap.GetNode(
"Width");
-
return widthPic->GetValue();
-
}
break;
-
case Type_Basler_Height: {
-
const CIntegerPtr heightPic = cameraNodeMap.GetNode(
"Height");
-
return heightPic->GetValue();
-
}
break;
-
default:
-
return
-1;
-
break;
-
}
-
}
-
-
long SBaslerCameraControl::StartAcquire()
-
{
-
m_isOpenAcquire =
true;
-
qDebug() <<
"SBaslerCameraControl IsGrabbing";
-
try {
-
qDebug() <<
"SBaslerCameraControl StartAcquire" << m_currentMode;
-
if(m_currentMode ==
"Freerun") {
-
m_basler.StartGrabbing(GrabStrategy_LatestImageOnly,GrabLoop_ProvidedByInstantCamera);
-
}
else
if(m_currentMode ==
"Software") {
-
m_basler.StartGrabbing(GrabStrategy_LatestImageOnly);
-
onTimerGrabImage();
-
}
else
if(m_currentMode ==
"Line1") {
-
m_basler.StartGrabbing(GrabStrategy_OneByOne);
-
}
else
if(m_currentMode ==
"Line2") {
-
m_basler.StartGrabbing(GrabStrategy_OneByOne);
-
}
-
}
catch (GenICam::GenericException &e) {
-
OutputDebugString(
L"StartAcquire error:");
-
return
-2;
-
}
-
return
0;
-
}
-
-
long SBaslerCameraControl::StopAcquire()
-
{
-
m_isOpenAcquire =
false;
-
qDebug() <<
"SBaslerCameraControl StopAcquire";
-
try {
-
if (m_basler.IsGrabbing()) {
-
m_basler.StopGrabbing();
-
}
-
}
catch (GenICam::GenericException &e) {
-
OutputDebugString(LPCWSTR(e.GetDescription()));
-
return
-2;
-
}
-
return
0;
-
}
-
-
long SBaslerCameraControl::GrabImage(QImage &image,
int timeout)
-
{
-
try {
-
if (!m_basler.IsGrabbing()) {
-
StartAcquire();
-
}
-
CGrabResultPtr ptrGrabResult;
-
if(m_currentMode ==
"Freerun") {
-
}
else
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);
-
}
else
if(m_currentMode ==
"Line2") {
-
m_basler.RetrieveResult(timeout, ptrGrabResult, TimeoutHandling_Return);
-
}
-
if (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 {
-
OutputDebugString(
L"Grab Error!!!");
-
return
-3;
-
}
-
}
catch (GenICam::GenericException &e) {
-
OutputDebugString(
L"GrabImage Error\n");
-
return
-2;
-
}
catch(...) {
-
OutputDebugString(
L"ZP 11 Shot GetParam Try 12 No know Error\n");
-
return
-1;
-
}
-
return
0;
-
}
如何调用
-
#ifndef MAINWINDOW_H
-
#define MAINWINDOW_H
-
-
#include <QMainWindow>
-
#include "BaslerCamera/sbaslercameracontrol.h"
-
-
namespace Ui {
-
class MainWindow;
-
}
-
-
class MainWindow :
public QMainWindow
-
{
-
Q_OBJECT
-
-
public:
-
explicit MainWindow(QWidget *parent = 0);
-
~MainWindow();
-
-
private slots:
-
void on_pushButton_GetExTime_clicked();
-
void on_pushButton_SetExTime_clicked();
-
void on_pushButton_SetMode_clicked();
-
void on_pushButton_GetMode_clicked();
-
void on_pushButton_CFMode_clicked();
-
void on_comboBox_CFMode_activated(int index);
-
void on_pushButton_Start_clicked();
-
void on_pushButtonRotate_clicked();
-
private:
-
Ui::MainWindow *ui;
-
SBaslerCameraControl* m_control = Q_NULLPTR;
-
QMatrix m_matrix;
-
};
-
-
#endif // MAINWINDOW_H
源文件：
-
#include "mainwindow.h"
-
#include "ui_mainwindow.h"
-
#include <QDebug>
-
-
MainWindow::MainWindow(QWidget *parent) :
-
QMainWindow(parent),
-
ui(
new Ui::MainWindow)
-
{
-
ui->setupUi(
this);
-
m_control =
new SBaslerCameraControl(
this);
-
m_control->initSome();
-
connect(m_control, &SBaslerCameraControl::sigCurrentImage, [=](QImage img){
-
QPixmap pix = QPixmap::fromImage(img).transformed(m_matrix);
-
ui->label->setPixmap(pix);
-
ui->widget_pic->setFixedSize(pix.size());
-
});
-
connect(m_control, &SBaslerCameraControl::sigSizeChange, [=](QSize size){
-
// 默认大小641,494
-
ui->label_size->setText(QString(
"\345\260\272\345\257\270:%0*%1").arg(QString::number(size.width())).arg(QString::number(size.height())));
// 尺寸
-
ui->widget_pic->setFixedSize(size);
-
});
-
m_control->OpenCamera(m_control->cameras().first());
-
}
-
-
MainWindow::~MainWindow()
-
{
-
m_control->CloseCamera();
-
m_control->deleteAll();
-
delete ui;
-
}
-
-
void MainWindow::on_pushButton_GetExTime_clicked()
-
{
-
ui->label_exTime->setText(QString::number(m_control->getExposureTime()));
-
}
-
-
void MainWindow::on_pushButton_SetExTime_clicked()
-
{
-
m_control->setExposureTime(ui->lineEdit_exTime->text().toDouble());
-
}
-
-
void MainWindow::on_pushButton_SetMode_clicked()
-
{
-
m_control->setFeatureTriggerSourceType(ui->lineEdit_SetMode->text());
-
}
-
-
void MainWindow::on_pushButton_GetMode_clicked()
-
{
-
ui->label_Mode->setText(m_control->getFeatureTriggerSourceType());
-
}
-
-
void MainWindow::on_pushButton_CFMode_clicked()
-
{
-
ui->label_CFMode->setText(m_control->getFeatureTriggerModeType()?
"Open":
"Close");
-
}
-
-
void MainWindow::on_comboBox_CFMode_activated(
int index)
-
{
-
m_control->setFeatureTriggerModeType(index ==
0);
-
}
-
-
void MainWindow::on_pushButton_Start_clicked()
-
{
-
if(ui->pushButton_Start->text() ==
"\345\274\200\345\247\213\351\207\207\351\233\206") {
// 开始采集
-
m_control->StartAcquire();
-
ui->pushButton_Start->setText(
"\347\273\223\346\235\237\351\207\207\351\233\206");
// 结束采集
-
}
else {
-
m_control->StopAcquire();
-
ui->pushButton_Start->setText(
"\345\274\200\345\247\213\351\207\207\351\233\206");
// 开始采集
-
}
-
}
-
-
void MainWindow::on_pushButtonRotate_clicked()
-
{
-
m_matrix.rotate(
90);
-
}
pro文件
（注意：引用库文件的路径哦）
-
#-------------------------------------------------
-
#
-
# Project created by QtCreator
2017
-12
-14T17:
55:
52
-
#
-
#-------------------------------------------------
-
-
QT += core gui
-
-
greaterThan(QT_MAJOR_VERSION,
4): QT += widgets
-
-
TARGET = Demo_BaslerCamera
-
TEMPLATE = app
-
-
CONFIG += c++
11
-
-
#--------------------------------------------Basler-------------------------------------------
-
INCLUDEPATH += $$PWD/include
-
LIBS += -L$$PWD/lib/Win32 -lGCBase_MD_VC120_v3_0_Basler_pylon_v5_0 -lGenApi_MD_VC120_v3_0_Basler_pylon_v5_0 -lPylonBase_MD_VC120_v5_0 -lPylonC_MD_VC120 -lPylonGUI_MD_VC120_v5_0 -lPylonUtility_MD_VC120_v5_0
-
#----------------------------------------------------------------------------------------------
-
-
SOURCES += main.cpp\
-
mainwindow.cpp \
-
BaslerCamera/sbaslercameracontrol.cpp
-
-
HEADERS += mainwindow.h \
-
BaslerCamera/sbaslercameracontrol.h
-
-
FORMS += mainwindow.ui
我把代码已经上传到
码云
https://gitee.com/sand_teacher_younger_brother/Demo_BaslerCamera
以上是Basler相机小Demo。如有问题直接在博客下提问，有时间的小伙伴也可以参与到项目中来……
版权声明：当你的才华还撑不起你的野心时，那你就应该静下心来学习。作者：沙师弟专栏
原文地址：https://blog.csdn.net/u014597198/article/details/78844664
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