阶段备份
This commit is contained in:
RCi
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#include "Hd_CameraModule_Basler_soft.h"
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#include "qfuture.h"
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#include <QtConcurrent/QtConcurrent>
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QQueue<cv::Mat> queuepic;
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Pylon::DeviceInfoList_t m_devices;
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static int FrameID = 0;
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static const size_t c_maxCamerasToUse = 2;
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// Smart pointer to camera features
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Pylon::CIntegerParameter m_exposureTime; //曝光
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Pylon::CIntegerParameter m_gain; //增益
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// The grab result retrieved from the camera.
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Pylon::CGrabResultPtr m_ptrGrabResult;
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bool m_invertImage=true;
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// The grab result as a windows DIB to be displayed on the screen.
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Pylon::CPylonBitmapImage m_bitmapImage;
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bool ifGetImage = false;
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bool ifmoduleRun = true;
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//判断是否为彩色相机
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bool IsColor(EPixelType enType)
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{
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switch (enType)
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{
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case PixelType_RGB8packed:
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case PixelType_BayerGR8:
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case PixelType_BayerRG8:
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case PixelType_BayerGB8:
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case PixelType_BayerBG8:
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case PixelType_BayerGR10:
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case PixelType_BayerRG10:
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case PixelType_BayerGB10:
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case PixelType_BayerBG10:
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case PixelType_BayerGR12:
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case PixelType_BayerRG12:
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case PixelType_BayerGB12:
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case PixelType_BayerBG12:
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case PixelType_RGB10packed:
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case PixelType_BGR10packed:
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case PixelType_RGB12packed:
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case PixelType_BGR12packed:
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case PixelType_YUV422_YUYV_Packed:
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case PixelType_BayerGR12Packed:
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case PixelType_BayerRG12Packed:
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case PixelType_BayerGB12Packed:
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case PixelType_BayerBG12Packed:
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return true;
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default:
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return false;
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}
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}
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//搜索设备
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int Hd_CameraModule_Basler_soft::SearchDevice()
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{
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CTlFactory& tlFactory = CTlFactory::GetInstance();
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DeviceInfoList_t devices;
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//找到所有相机
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if (tlFactory.EnumerateDevices(devices) == 0)
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{
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qDebug() << "No camera present";
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}
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m_devices = devices;
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// Fill the combo box.
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int mindex = 0;
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for (Pylon::DeviceInfoList_t::const_iterator it = m_devices.begin(); it != m_devices.end(); ++it)
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{
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// Get the pointer to the current device info.
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const Pylon::CDeviceInfo* const pDeviceInfo = &(*it);
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// Add the friendly name to the list.
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Pylon::String_t friendlyName = pDeviceInfo->GetFriendlyName();
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std::string s = friendlyName; //Basler raL4096-24gm (24731776)；cam0 (23593460)
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//std:cout << s << std::endl;
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if (s == Username)
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{
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index = mindex;
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break;
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}
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mindex++;
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}
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return (int)devices.size();
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}
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//回调函数
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//当有新图像可用时，从CInstantCamera抓取线程调用此函数。
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//在此处执行图像处理。
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//之后，我们将把图像转换为RGB位图，并通知GUI关于新图像的信息。
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//
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//注意：您不能访问任何UI对象，因为此函数不是从GUI线程调用的。
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//为了更新GUI，我们将在该功能结束时向主窗口发布一条消息。
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//GUI线程将处理消息并更新GUI。
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void Hd_CameraModule_Basler_soft::OnImageGrabbed(Pylon::CInstantCamera& camera, const CGrabResultPtr& grabResult)
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{
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// The following line is commented out as this function will be called very often
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// filling up the debug output.
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//TRACE(_T("%s\n"), __FUNCTIONW__);
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// When overwriting the current CGrabResultPtr, the previous result will automatically be
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// released and reused by CInstantCamera.
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double time_Start = (double)clock();
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//m_ptrGrabResult = grabResult;
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//CBaslerUniversalGrabResultPtr ptrGrabResult;CGrabResultPtr
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// First check whether the smart pointer is valid.
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// Then call GrabSucceeded() on the CGrabResultData to test whether the grab resulut conatains
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// an sucessfully grabbed image.
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// In case of i.e. transmission errors the result may be invalid
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if (grabResult.IsValid() && grabResult->GrabSucceeded())
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{
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// This is where you would do image processing
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// and do other tasks.
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// --- Start of sample image processing --- (only works for 8-bit formats)
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if (m_invertImage && grabResult->GetPixelType() == PixelType_Mono8)
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{
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srcImage = cv::Mat(grabResult->GetHeight(), grabResult->GetWidth(), CV_8UC1, grabResult->GetBuffer());
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//size_t imageSize = Pylon::ComputeBufferSize(grabResult->GetPixelType(), grabResult->GetWidth(), grabResult->GetHeight(), grabResult->GetPaddingX());
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//uint8_t* p = reinterpret_cast<uint8_t*>(grabResult->GetBuffer());
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//uint8_t* const pEnd = p + (imageSize / sizeof(uint8_t));
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//for (; p < pEnd; ++p)
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//{
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// *p = 255 - *p; //For demonstration purposes only, invert the image.
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//}
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}
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else if (m_invertImage && grabResult->GetPixelType() == PixelType_BGR8packed)
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{
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srcImage = cv::Mat(grabResult->GetHeight(), grabResult->GetWidth(), CV_8UC3, grabResult->GetBuffer());
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}
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else if (IsColor(grabResult->GetPixelType()))
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{
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// Create a target image.
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CPylonImage targetImage;
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// Create the converter and set parameters.
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CImageFormatConverter converter;
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converter.OutputPixelFormat = PixelType_BGR8packed;
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// Now we can check if conversion is required.
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if (converter.ImageHasDestinationFormat(grabResult))
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{
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;
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}
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else
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{
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converter.Convert(targetImage, grabResult);
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}
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srcImage = cv::Mat(targetImage.GetHeight(), targetImage.GetWidth(), CV_8UC3, targetImage.GetBuffer());
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}
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//++m_cntGrabbedImages;
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ifGetImage = true;
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}
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else
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{
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// If the grab result is invalid, we also mark the bitmap as invalid.
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m_bitmapImage.Release();
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ifGetImage = false;
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// The some TLs provide an error code why the grab failed.
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//TRACE(_T("%s Grab failed. Error code. %x\n"), __FUNCTIONW__, (int)grabResult->GetErrorCode());
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//CSingleLock lockErrorCount(&m_MemberLock, TRUE);
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//++m_cntGrabErrors;
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//lockErrorCount.Unlock();
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}
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// Tell the main window that there is a new image available so it can update the image window.
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double time_End = (double)clock();
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qDebug() << "[INFO] " " srcImage Exist,Time:" << (time_End - time_Start) / 1.0 << "ms" << "--CameraName:" << QString::fromStdString(Username) << "--FrameID : " << FrameID++;
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}
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//断线回调
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// This will be called when the camera has been removed/disconnected.
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// We'll post a message to the GUI about this event and return.
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// In response to this message, the GUI will be updated and the camera will be closed.
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void Hd_CameraModule_Basler_soft::OnCameraDeviceRemoved(Pylon::CInstantCamera& camera)
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{
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moduleStatus = false;
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qDebug() << "[Hd_CameraModule_Basler_soft] " << " Camera disconnected! try auto connect";
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//运行重连线程
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QFuture<bool> future2 = QtConcurrent::run(this, &Hd_CameraModule_Basler_soft::reConnctDevice);
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}
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//OnImageGrabbed和OnCameraDeviceRemoved函数，相机创建时自动绑定；相机释放时，自动解除绑定。
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//重连
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bool Hd_CameraModule_Basler_soft::reConnctDevice()
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{
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m_camera->StopGrabbing();
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m_camera->DestroyDevice();
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m_camera->Close();
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delete m_camera;
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m_camera = nullptr;
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while (1)
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{
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if (ifmoduleRun == false)
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return false;
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Sleep(100);
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//m_mutex->lock();
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if (ConnctDevice() == true)
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{
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qWarning() << "[Hd_CameraModule_Basler_soft] " << " Camera create success again! ";
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moduleStatus = true;
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//m_mutex->unlock();
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return true;
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}
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}
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}
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//连接设备
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bool Hd_CameraModule_Basler_soft::ConnctDevice()
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{
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index = -1;
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SearchDevice();
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if (index < 0)
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return false;
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m_camera = new CBaslerUniversalInstantCamera;
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//因为用的new方式
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{
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// Register this object as an image event handler in order to get notified of new images.
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// See Pylon::CImageEventHandler for details.
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m_camera->RegisterImageEventHandler(this, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_None);
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// Register this object as a configuration event handler in order to get notified of camera state changes.
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// See Pylon::CConfigurationEventHandler for details.
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m_camera->RegisterConfiguration(new Pylon::CAcquireContinuousConfiguration(), Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
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m_camera->RegisterConfiguration(this, Pylon::RegistrationMode_Append, Pylon::Cleanup_None);
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}
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// Get the pointer to Pylon::CDeviceInfo selected.
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const Pylon::CDeviceInfo* pDeviceInfo = &m_devices[index];// (const Pylon::CDeviceInfo*)m_cameraBox.GetItemData(index);
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try
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{
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// Add the AutoPacketSizeConfiguration and let pylon delete it when not needed anymore.
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//m_camera->RegisterConfiguration(new CAutoPacketSizeConfiguration(), Pylon::RegistrationMode_Append, Pylon::Cleanup_Delete);
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// Create the device and attach it to CInstantCamera.
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// Let CInstantCamera take care of destroying the device.
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Pylon::IPylonDevice* pDevice = Pylon::CTlFactory::GetInstance().CreateDevice(*pDeviceInfo);
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m_camera->Attach(pDevice, Pylon::Cleanup_Delete);
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if (m_camera->IsPylonDeviceAttached() == false)
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return false;
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// Open camera.
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m_camera->Open();
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//设置心跳；快速进断线回调函数
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CIntegerParameter heartbeat(m_camera->GetTLNodeMap(), "HeartbeatTimeout");
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heartbeat.TrySetValue(1000, IntegerValueCorrection_Nearest); // set to 1000 ms timeout if writable
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////设置曝光，GigE相机为ExposureTimeRaw；USB相机为ExposureTime；方法可行,断电不保存
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//if (m_camera->ExposureTime.IsValid())
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//{
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// m_camera->ExposureTime.GetAlternativeIntegerRepresentation(m_exposureTime);
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// int64_t myExposureTimeRaw=m_camera->ExposureTimeRaw.GetValue();
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// m_camera->ExposureTimeRaw.SetValue(20);
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//}
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//else if (m_camera->ExposureTimeRaw.IsValid())
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//{
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// m_exposureTime.Attach(m_camera->ExposureTimeRaw.GetNode());
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// m_camera->ExposureTimeRaw.SetValue(20);
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//}
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//线扫相机，设置增益有问题
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////设置增益，GigE相机为GainRaw；USB相机为Gain
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//if (m_camera->Gain.IsValid())
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//{
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// m_camera->Gain.GetAlternativeIntegerRepresentation(m_gain);
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// m_camera->Gain.SetValue(2);
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//}
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//else if (m_camera->GainRaw.IsValid())
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//{
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// m_gain.Attach(m_camera->GainRaw.GetNode());
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// m_camera->GainRaw.SetValue(2);
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//}
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//这几行会把相机设置重置
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//像素格式
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//m_camera->RegisterCameraEventHandler(this, "PixelFormat", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);
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//触发模式
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//m_camera->RegisterCameraEventHandler(this, "TriggerMode", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);
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//触发源
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//m_camera->RegisterCameraEventHandler(this, "TriggerSource", 0, Pylon::RegistrationMode_Append, Pylon::Cleanup_None, Pylon::CameraEventAvailability_Optional);
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//触发模式
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m_camera->TriggerSource.SetValue( Basler_UniversalCameraParams::TriggerSource_Software);
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//触发源
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m_camera->TriggerMode.SetValue(Basler_UniversalCameraParams::TriggerMode_On);
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//m_camera->PixelFormat.SetValue();//
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//连续采集
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// Camera may have been disconnected.
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if (!m_camera->IsOpen() || m_camera->IsGrabbing())
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{
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return false;
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}
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// Try set continuous frame mode if available
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m_camera->AcquisitionMode.TrySetValue(Basler_UniversalCameraParams::AcquisitionMode_Continuous);
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// Start grabbing until StopGrabbing() is called.
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m_camera->StartGrabbing(Pylon::GrabStrategy_OneByOne, Pylon::GrabLoop_ProvidedByInstantCamera);
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qDebug() << "[StartGrabbing] " << " basler camera StartGrabbing!";
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}
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catch (const Pylon::GenericException& e)
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{
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qDebug() << "[error] " << " basler camera disconnects!";
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return false;
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}
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return true;
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////创建相机对象（以最先识别的相机）
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////camera = CTlFactory::GetInstance().CreateFirstDevice();
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//CInstantCameraArray cameras(min(devices.size(), c_maxCamerasToUse));
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//// 打印相机的名称
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////std::cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
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//
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////获取相机节点映射以获得相机参数
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//GenApi::INodeMap& nodemap = camera.GetNodeMap();
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////打开相机
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//camera.Open();
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////加载用户集，相机设置应当userset1
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//camera.UserSetSelector.SetValue(UserSetSelector_UserSet1);
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//camera.RegisterImageEventHandler(new CSampleImageEventHandler, RegistrationMode_Append, Cleanup_Delete);
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//camera.RegisterExceptionCallBack();
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// 设置相机参数
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/*GenApi::cenumerationptr ptracquisitionmode = camera.getparameter("acquisitionmode");
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ptracquisitionmode->fromstring("continuous");
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genapi::cenumerationptr ptrtriggerselector = camera.getparameter("triggerselector");
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ptrtriggerselector->fromstring("framestart");
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genapi::cenumerationptr ptrtriggermode = camera.getparameter("triggermode");
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ptrtriggermode->fromstring("on");
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genapi::cenumerationptr ptrtriggersource = camera.getparameter("triggersource");
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ptrtriggersource->fromstring("software");
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CIntegerParameter heartbeat( camera.GetTLNodeMap(), "HeartbeatTimeout" );
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heartbeat.TrySetValue( 1000, IntegerValueCorrection_Nearest );
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*/
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}
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//错误
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void Hd_CameraModule_Basler_soft::OnGrabError(Pylon::CInstantCamera& camera, const char* errorMessage)
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{
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std::cout << "Hd_CameraModule_Basler_soft err:: " << errorMessage << std::endl;
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moduleStatus = false;
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}
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Hd_CameraModule_Basler_soft* create()
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{
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qDebug() << "[info] " << "Hd_CameraModule_Basler_soft create success!";
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return new Hd_CameraModule_Basler_soft;
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}
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void destory(Hd_CameraModule_Basler_soft* ptr)
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{
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if (ptr)
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{
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delete ptr;
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ptr = nullptr;
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}
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qDebug() << "[info] " << "Hd_CameraModule_Basler_soft destory success!";
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}
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Hd_CameraModule_Basler_soft::Hd_CameraModule_Basler_soft()
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{
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PylonInitialize();
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m_mutex = new QMutex();
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}
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//关闭设备
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void Hd_CameraModule_Basler_soft::CloseDevice()
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{
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m_camera->StopGrabbing();
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//m_bitmapImage.Release();
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//// Free the grab result, if present.
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//m_ptrGrabResult.Release();
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//// Remove the event handlers that will be called when the feature changes.
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//m_camera->DeregisterCameraEventHandler(this, "TriggerSource");
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//m_camera->DeregisterCameraEventHandler(this, "TriggerMode");
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//m_camera->DeregisterCameraEventHandler(this, "PixelFormat");
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//if (m_gain.IsValid())
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//{
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// // If we must use the alternative integer representation, we don't know the name of the node as it defined by the camera
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// m_camera->DeregisterCameraEventHandler(this, m_gain.GetNode()->GetName());
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//}
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//if (m_exposureTime.IsValid())
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//{
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// // If we must use the alternative integer representation, we don't know the name of the node as it defined by the camera
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// m_camera->DeregisterCameraEventHandler(this, m_exposureTime.GetNode()->GetName());
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//}
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//// Clear the pointers to the features we set manually in Open().
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//m_exposureTime.Release();
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//m_gain.Release();
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// Close the camera and free all ressources.
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// This will also unregister all
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m_camera->DestroyDevice();
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m_camera->Close();
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delete m_camera;
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m_camera = nullptr;
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//m_camera->ClearBufferModeEnable();
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/*camera.StopGrabbing();
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camera.DestroyDevice();
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camera.Close();*/
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}
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Hd_CameraModule_Basler_soft::~Hd_CameraModule_Basler_soft()
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{
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ifmoduleRun = false;
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m_mutex->lock();
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CloseDevice();
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m_mutex->unlock();
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//PylonTerminate();
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if (m_mutex)
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{
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delete m_mutex;
|
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m_mutex = nullptr;
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}
|
||||
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qDebug() << "[info] " << " delete success!";
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}
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//从类中读数据到实例对象
|
||||
bool Hd_CameraModule_Basler_soft::readData(std::vector<cv::Mat>& mat, QByteArray& data, nlohmann::json& json)
|
||||
{
|
||||
int timeCnt = 0;
|
||||
while (srcImage.empty())
|
||||
{
|
||||
//qCritical() << "[INFO] " << " srcImage is null!";
|
||||
QThread::msleep(1);
|
||||
timeCnt++;
|
||||
if(timeCnt>1000)
|
||||
return false;
|
||||
}
|
||||
mat.push_back(srcImage);
|
||||
return true;
|
||||
}
|
||||
//实例对象把数据写入到类
|
||||
bool Hd_CameraModule_Basler_soft::writeData(std::vector<cv::Mat>& mat, QByteArray& data, nlohmann::json& json)
|
||||
{
|
||||
Q_UNUSED(mat)
|
||||
m_flag = false;
|
||||
Username = data.toStdString();
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_Basler_soft::initParas(QByteArray&, nlohmann::json& json)
|
||||
{
|
||||
return true;
|
||||
return ConnctDevice();
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_Basler_soft::run()
|
||||
{
|
||||
bool result = false;
|
||||
ifGetImage = false;
|
||||
|
||||
try
|
||||
{
|
||||
m_mutex->lock();
|
||||
|
||||
if (!m_camera->IsGrabbing())
|
||||
{
|
||||
m_mutex->unlock();
|
||||
return result;
|
||||
}
|
||||
|
||||
//软触发一次
|
||||
// Only wait if software trigger is currently turned on.
|
||||
if (m_camera->TriggerSource.GetValue() == Basler_UniversalCameraParams::TriggerSource_Software
|
||||
&& m_camera->TriggerMode.GetValue() == Basler_UniversalCameraParams::TriggerMode_On)
|
||||
{
|
||||
// If the camera is currently processing a previous trigger command,
|
||||
// it will silently discard trigger commands.
|
||||
// We wait until the camera is ready to process the next trigger.
|
||||
if (moduleStatus == false)
|
||||
{
|
||||
m_mutex->unlock();
|
||||
return result;
|
||||
}
|
||||
if (m_camera->WaitForFrameTriggerReady(3000, Pylon::TimeoutHandling_ThrowException) == true)
|
||||
{
|
||||
// Send trigger
|
||||
m_camera->ExecuteSoftwareTrigger();
|
||||
}
|
||||
else {
|
||||
m_mutex->unlock();
|
||||
return result;
|
||||
}
|
||||
}
|
||||
else {
|
||||
m_mutex->unlock();
|
||||
return result;
|
||||
}
|
||||
|
||||
int timeOut = 0;
|
||||
while (1)
|
||||
{
|
||||
if (ifGetImage == true)
|
||||
{
|
||||
result = true;
|
||||
break;
|
||||
}
|
||||
|
||||
if (timeOut++ > 3000 || moduleStatus ==false)
|
||||
{
|
||||
result = false;
|
||||
break;
|
||||
}
|
||||
//else
|
||||
//{
|
||||
// result = true;
|
||||
// break;
|
||||
//}
|
||||
Sleep(1);
|
||||
}
|
||||
}
|
||||
catch (...)
|
||||
{
|
||||
qDebug() << "[error] " << " Hd_CameraModule_Basler_soft:" ;
|
||||
}
|
||||
m_mutex->unlock();
|
||||
return result;
|
||||
}
|
||||
//相机连接状态：正常连接或断开
|
||||
bool Hd_CameraModule_Basler_soft::checkStatus()
|
||||
{
|
||||
//m_mutex->lock();
|
||||
//status = modulestatus;
|
||||
return moduleStatus;
|
||||
//m_mutex->unlock();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user