由于学校实验室需要用到Basler相机，然而网上Basler相机的说明文档是全英文的，对新手不太友好，而且国内关于Basler的硬件触发代码没有。在研究了Basler相机的SDK之后总结出了触发的驱动，还有照片与OpenCV格式转换的代码，希望可以对你们有帮助。
测试环境
- Ubuntu14.04
- Pylon5.0.5
- OpenCV3.4.14
- 相机型号acA1600-60gm/acA2500-14gm
使用步骤
下载Basler相机的SDK(pylon)
在Pylon下载网站下载对应的SDK，此处我下载的是Pylon5.0.5。
安装pylon
下载的文件名为pylonSDK-5.0.5.9000-x86_64.tar.gz，将这个文件夹随便解压到一个地方。
进入解压的文件，打开终端，此时的目录为 解压的目录/pylon-5.0.5.9000-x86_64
输入命令，将SDK解压到opt目录下面
sudo tar -C /opt -xzf pylonSDK*.tar.gz至此，Basler的SDK(Pylon)安装完成
软件触发
前期准备
将摄像机的电源线插上，电源线的制作方法详见Basler相机的说明PDF
网线也插上，用/opt/pylon5/ipconfiguretion将相机的ip和主机的ip设置在同一网段内
用/opt/pylon5/bin/pylon查看相机是否连接成功，是否可以拍摄照片
代码编写
softwareTrigger.cpp源文件
软件触发的源文件，用死循环一直循环取图像，包含拍照的图像转成OpenCV的Mat矩阵
//#include <opencv2/opencv.hpp>
#include <pylon/PylonIncludes.h>
using namespace Pylon;
using namespace GenApi;
//using namespace cv;
using namespace std;
int main(){
try{
PylonInitialize(); //初始化相机
CInstantCamera camera(CTlFactory::GetInstance().CreateFirstDevice());
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
camera.Open();
camera.StartGrabbing(GrabStrategy_LatestImages);
CGrabResultPtr ptrGrabResult;
CPylonImage image; //图片结构体
while(1){
camera.RetrieveResult(5000, ptrGrabResult, TimeoutHandling_ThrowException);
CImageFormatConverter fc;
fc.OutputPixelFormat = PixelType_BGR8packed;
if (ptrGrabResult->GrabSucceeded())
{
cout << "Please wait. Images are grabbed." << endl;
cout << ptrGrabResult->GetWidth()<<endl;
cout << ptrGrabResult->GetHeight()<<endl;
/* 将相机拍的照片转换成OpenCV的Mat矩阵
// fc.Convert(image, ptrGrabResult);//转换
// int imRows = ptrGrabResult->GetWidth() / 3;
// int imCols = ptrGrabResult->GetHeight() / 3;
// Mat cv_img = Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC3, (uint8_t*)image.GetBuffer());
// imshow("OpenCVimg",cv_img);
// waitKey(0);
*/
}
}
camera.Close();//一定要记得关闭，不然重新连接连不上相机
}
catch (const GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
}
return 0;
}制作makefile文件，将库引入进来
作者：魁爷的黑作坊 来源：简书 https://www.jianshu.com/p/cee63023b8c7
pylon界面中文说明-德国basler工业相机\
basler/pylon-5.2.0.13457-x86_64/pylon5/share/doc
https://wenku.baidu.com/view/1e80d8c8647d27284b7351e9.html
Basler相机配置文件解析 及 加载代码
# {05D8C294-F295-4dfb-9D01-096BD04049F4}
# GenApi persistence file (version 3.1.0)
# Device = Basler::GigECamera -- Basler generic GigEVision camera interface -- Device version = 3.8.0 -- Product GUID = 1F3C6A72-7842-4edd-9130-E2E90A2058BA -- Product version GUID = 3EFB0F43-DD0C-4A24-9AEC-898FEDCFE564
GainAuto Continuous
BlackLevelSelector All
BlackLevelRaw 0
BlackLevelSelector All
GammaEnable 1
GammaSelector sRGB
DigitalShift 0
PixelFormat BayerRG8
ReverseX 0
ReverseY 0
TestImageSelector Off
ColorTransformationSelector RGBtoRGB
LightSourceSelector Daylight
ColorTransformationSelector RGBtoRGB
BalanceWhiteAuto Continuous
ColorTransformationMatrixFactorRaw 65536
ColorAdjustmentEnable 1
ColorAdjustmentSelector Red
ColorAdjustmentHueRaw -3
ColorAdjustmentSelector Yellow
ColorAdjustmentHueRaw 2
ColorAdjustmentSelector Green
ColorAdjustmentHueRaw 3
ColorAdjustmentSelector Cyan
ColorAdjustmentHueRaw 8
ColorAdjustmentSelector Blue
ColorAdjustmentHueRaw -2
ColorAdjustmentSelector Magenta
ColorAdjustmentHueRaw 18
ColorAdjustmentSelector Red
ColorAdjustmentSelector Red
ColorAdjustmentSaturationRaw 130
ColorAdjustmentSelector Yellow
ColorAdjustmentSaturationRaw 122
ColorAdjustmentSelector Green
ColorAdjustmentSaturationRaw 144
ColorAdjustmentSelector Cyan
ColorAdjustmentSaturationRaw 130
ColorAdjustmentSelector Blue
ColorAdjustmentSaturationRaw 128
ColorAdjustmentSelector Magenta
ColorAdjustmentSaturationRaw 124
ColorAdjustmentSelector Red
Width 1920 ##图像宽
Height 1200 ##图像高
CenterX 1
CenterY 1
ROIZoneSelector Zone0
ROIZoneMode Off
ROIZoneSelector Zone1
ROIZoneMode Off
ROIZoneSelector Zone2
ROIZoneMode Off
ROIZoneSelector Zone3
ROIZoneMode Off
ROIZoneSelector Zone0
ROIZoneSelector Zone0
ROIZoneSize 2
ROIZoneSelector Zone1
ROIZoneSize 4
ROIZoneSelector Zone2
ROIZoneSize 4
ROIZoneSelector Zone3
ROIZoneSize 4
ROIZoneSelector Zone0
ROIZoneSelector Zone0
ROIZoneOffset 2
ROIZoneSelector Zone1
ROIZoneOffset 0
ROIZoneSelector Zone2
ROIZoneOffset 0
ROIZoneSelector Zone3
ROIZoneOffset 0
ROIZoneSelector Zone0
AcquisitionFrameCount 1
TriggerSelector AcquisitionStart
TriggerMode Off
TriggerSelector FrameStart
TriggerMode Off
TriggerSelector FrameStart
TriggerSelector AcquisitionStart
TriggerSource Line1
TriggerSelector FrameStart
TriggerSource Line1
TriggerSelector FrameStart
TriggerSelector AcquisitionStart
TriggerActivation RisingEdge
TriggerSelector FrameStart
TriggerActivation RisingEdge
TriggerSelector FrameStart
TriggerSelector AcquisitionStart
TriggerDelayAbs 0
TriggerSelector FrameStart
TriggerDelayAbs 0
TriggerSelector FrameStart
ExposureMode Timed
ExposureAuto Continuous ## 自动曝光
ShutterMode Global
AcquisitionFrameRateEnable 1
AcquisitionFrameRateAbs 100
LineSelector Line1
LineMode Input
LineSelector Line2
LineMode Output
LineSelector Line3
LineMode Input
LineSelector Line1
LineSelector Line1
LineFormat OptoCoupled
LineSelector Line2
LineFormat OptoCoupled
LineSelector Line3
LineFormat TTL
LineSelector Line1
LineSelector Line2
LineSource UserOutput1
LineSelector Line1
LineSelector Line1
LineInverter 0
LineSelector Line2
LineInverter 0
LineSelector Line3
LineInverter 0
LineSelector Line1
LineSelector Line1
LineDebouncerTimeRaw 10000
LineSelector Line3
LineDebouncerTimeRaw 0
LineSelector Line1
LineSelector Line2
MinOutPulseWidthRaw 0
LineSelector Line1
UserOutputValueAll 0
SyncUserOutputValueAll 0
TimerDelayTimebaseAbs 1
TimerDurationTimebaseAbs 1
TimerSelector Timer1
TimerDelayAbs 0
TimerSelector Timer1
TimerSelector Timer1
TimerDelayRaw 0
TimerSelector Timer1
TimerSelector Timer1
TimerDurationAbs 4095
TimerSelector Timer1
TimerSelector Timer1
TimerDurationRaw 4095
TimerSelector Timer1
CounterSelector Counter1
CounterEventSource FrameTrigger
CounterSelector Counter2
CounterEventSource FrameStart
CounterSelector Counter1
CounterSelector Counter1
CounterResetSource Off
CounterSelector Counter2
CounterResetSource Off
CounterSelector Counter1
LUTSelector Luminance
LUTEnable 0
LUTSelector Luminance
LUTSelector Luminance
LUTValueAll 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LUTSelector Luminance
GevStreamChannelSelector StreamChannel0
GevSCPSPacketSize 1500
GevStreamChannelSelector StreamChannel0
GevStreamChannelSelector StreamChannel0
GevSCPD 0
GevStreamChannelSelector StreamChannel0
GevStreamChannelSelector StreamChannel0
GevSCFTD 0
GevStreamChannelSelector StreamChannel0
GevStreamChannelSelector StreamChannel0
GevSCBWR 10
GevStreamChannelSelector StreamChannel0
GevStreamChannelSelector StreamChannel0
GevSCBWRA 10
GevStreamChannelSelector StreamChannel0
AutoTargetValue 128
GrayValueAdjustmentDampingRaw 700
BalanceWhiteAdjustmentDampingRaw 1000
AutoGainRawLowerLimit 0
AutoGainRawUpperLimit 239
AutoExposureTimeAbsLowerLimit 63 ## 自动曝光上下限，如果自动曝光关闭，就需要手动设置曝光值
AutoExposureTimeAbsUpperLimit 500000
AutoFunctionProfile GainMinimum
AutoFunctionAOISelector AOI1
AutoFunctionAOIWidth 1920 ## aeroi 测光区域wid
AutoFunctionAOISelector AOI2
AutoFunctionAOIWidth 1920
AutoFunctionAOISelector AOI1
AutoFunctionAOISelector AOI1
AutoFunctionAOIHeight 400 ## aeroi 测光区域height
AutoFunctionAOISelector AOI2
AutoFunctionAOIHeight 400
AutoFunctionAOISelector AOI1
AutoFunctionAOISelector AOI1
AutoFunctionAOIOffsetX 8 ## aeroi 测光区域 offsetx
AutoFunctionAOISelector AOI2
AutoFunctionAOIOffsetX 8
AutoFunctionAOISelector AOI1
AutoFunctionAOISelector AOI1
AutoFunctionAOIOffsetY 8 ## aeroi 测光区域 offsety
AutoFunctionAOISelector AOI2
AutoFunctionAOIOffsetY 8
AutoFunctionAOISelector AOI1
UserDefinedValueSelector Value1
UserDefinedValue 0
UserDefinedValueSelector Value2
UserDefinedValue 0
UserDefinedValueSelector Value3
UserDefinedValue 0
UserDefinedValueSelector Value4
UserDefinedValue 0
UserDefinedValueSelector Value5
UserDefinedValue 0
UserDefinedValueSelector Value1
ParameterSelector Gain
RemoveLimits 0
ParameterSelector AutoTargetValue
RemoveLimits 0
ParameterSelector Gain
ChunkModeActive 0
EventSelector ExposureEnd
EventNotification Off
EventSelector FrameStartOvertrigger
EventNotification Off
EventSelector AcquisitionStartOvertrigger
EventNotification Off
EventSelector FrameStart
EventNotification Off
EventSelector AcquisitionStart
EventNotification Off
EventSelector CriticalTemperature
EventNotification Off
EventSelector OverTemperature
EventNotification Off
EventSelector ActionLate
EventNotification Off
EventSelector FrameStartWait
EventNotification Off
EventSelector AcquisitionStartWait
EventNotification Off
EventSelector EventOverrun
EventNotification Off
EventSelector ExposureEnd
代码加载：
nodeFile = "./Camera/camera_config.pfs" ##加载相机配置文件
camera = pylon.InstantCamera(pylon.TlFactory.GetInstance().CreateFirstDevice()) ##加载相机
# Grabing Continusely (video) with minimal delay
camera.StartGrabbing(pylon.GrabStrategy_LatestImageOnly) ##抓取图像
converter = pylon.ImageFormatConverter() ##格式转换
# converting to opencv bgr format
converter.OutputPixelFormat = pylon.PixelType_BGR8packed ##转换成opencv——bgr格式的转换器
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned ##输出位对齐
pylon.FeaturePersistence.Load(nodeFile, camera.GetNodeMap(), True) ## loading camera_config
try:
while camera.IsGrabbing(): ##相机是否成功抓取图像
time_1 = time.time()
grabResult = camera.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException) ##相机抓取图像结果保存在grabResult中
if grabResult.GrabSucceeded():
# Access the image data
image = converter.Convert(grabResult) ##使用转换器进行格式转换
img = image.GetArray() ##获取图像数据
print("cap image time is ", time.time() - time_1)
if img is not None:
common_deal(img) ##对图像进行处理
print("the all time is ", time.time() - time_1)
...
...
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