11 changed files with 420 additions and 4 deletions
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2build.gradle
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BINlib/opencv-420.jar
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4src/main/java/com/iflytop/gd/app/controller/PhotoController.java
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46src/main/java/com/iflytop/gd/app/core/runner/BaslerCameraApplicationRunner.java
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15src/main/java/com/iflytop/gd/app/service/api/PhotosService.java
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BINsrc/main/java/com/iflytop/gd/camera/BaslerCameraWrapper$GrabResult.class
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BINsrc/main/java/com/iflytop/gd/camera/BaslerCameraWrapper.class
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130src/main/java/com/iflytop/gd/camera/BaslerCameraWrapper.java
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65src/main/java/com/iflytop/gd/hardware/controller/BaslerCameraController.java
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148src/main/java/com/iflytop/gd/hardware/drivers/CameraBaslerDriver.java
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12src/main/resources/application-dev.yml
@ -0,0 +1,46 @@ |
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package com.iflytop.gd.app.core.runner; |
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|
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import lombok.extern.slf4j.Slf4j; |
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import org.springframework.beans.factory.annotation.Value; |
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import org.springframework.boot.ApplicationArguments; |
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import org.springframework.boot.ApplicationRunner; |
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import org.springframework.core.annotation.Order; |
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import org.springframework.stereotype.Component; |
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|
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@Slf4j |
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@Order(2) |
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@Component |
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public class BaslerCameraApplicationRunner implements ApplicationRunner { |
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@Value("${opencv.library-path}") |
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private String opencvLibraryPath; |
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|
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@Value("${pylon.library-path}") |
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private String pylonLibraryPath; |
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|
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@Value("${pylon.wrapper-path}") |
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private String pylonWrapperPath; |
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@Override |
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public void run(ApplicationArguments args) throws Exception { |
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try { |
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System.load(this.opencvLibraryPath); |
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log.info("成功加载OpenCV库: {}", this.opencvLibraryPath); |
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} catch (UnsatisfiedLinkError | SecurityException e) { |
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log.error("加载OpenCV库失败: {}", this.opencvLibraryPath, e); |
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} |
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|
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try { |
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System.load(this.pylonLibraryPath); |
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log.info("成功加载pylon库: {}", this.pylonLibraryPath); |
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} catch (UnsatisfiedLinkError | SecurityException e) { |
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log.error("加载pylon库失败: {}", this.pylonLibraryPath, e); |
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} |
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try { |
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System.load(this.pylonWrapperPath); |
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log.info("成功加载pylon wrapper库: {}", this.pylonWrapperPath); |
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} catch (UnsatisfiedLinkError | SecurityException e) { |
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log.error("加载pylon wrapper库失败: {}", this.pylonWrapperPath, e); |
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} |
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|
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} |
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} |
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@ -0,0 +1,130 @@ |
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package com.iflytop.gd.camera; |
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|
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public class BaslerCameraWrapper { |
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public static final int ACCESS_MODE_MONITOR = 0; |
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public static final int ACCESS_MODE_CONTROL = 1; |
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public static final int ACCESS_MODE_STREAM = (1 << 1); |
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public static final int ACCESS_MODE_EVENT = (1 << 2); |
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public static final int ACCESS_MODE_EXCLUSIVE = (1 << 3); |
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|
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public static class GrabResult { |
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public byte[] imageBuffer; |
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public int payloadType; |
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public int pixelType; |
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public int sizeX; |
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public int sizeY; |
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public int offsetX; |
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public int offsetY; |
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public int paddingX; |
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public int paddingY; |
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public long PayloadSize; |
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public int ErrorCode; |
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} |
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|
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/** |
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* Initializes the pylon runtime system. |
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*/ |
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public native void initialize(); |
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|
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/** |
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* Enumerates all camera devices. |
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* @return The number of found devices. |
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*/ |
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public native int enumerateDevices(); |
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|
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/** |
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* Terminates the pylon runtime system. |
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*/ |
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public native void terminate(); |
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|
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/** |
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* Creates a camera device by index. |
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* @param index The index of the camera device. |
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* @return The handle of the camera device. |
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*/ |
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public native long createDeviceByIndex(int index); |
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|
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/** |
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* Opens the camera device. |
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* @param hDev The handle of the camera device. |
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* @param accessMode The access mode. |
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*/ |
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public native void deviceOpen(long hDev, int accessMode); |
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|
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/** |
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* Checks if a camera device feature is readable. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @return true if the feature is readable, false otherwise. |
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*/ |
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public native boolean deviceFeatureIsReadable(long hDev, String name); |
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|
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/** |
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* Read a camera device feature to a string. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @param size The size of the string buffer. |
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* @return The string value of the feature. |
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*/ |
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public native String deviceFeatureToString(long hDev, String name, int size); |
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|
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/** |
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* Checks if a camera device feature is available. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @return true if the feature is available, false otherwise. |
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*/ |
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public native boolean deviceFeatureIsAvailable(long hDev, String name); |
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|
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/** |
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* Writes a camera device feature from a string. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @param value The value of the feature. |
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*/ |
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public native void deviceFeatureFromString(long hDev, String name, String value); |
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|
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/** |
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* Checks if a camera device feature is writable. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @return true if the feature is writable, false otherwise. |
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*/ |
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public native boolean deviceFeatureIsWritable(long hDev, String name); |
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|
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/** |
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* Writes a camera device feature from an integer. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @param value The value of the feature. |
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*/ |
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public native void deviceSetIntegerFeature(long hDev, String name, int value); |
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/** |
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* Reads a camera device feature to an integer. |
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* @param hDev The handle of the camera device. |
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* @param name The name of the feature. |
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* @return The integer value of the feature. |
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*/ |
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public native int deviceGetIntegerFeatureInt32(long hDev, String name); |
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/** |
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* Grabs a single frame from the camera device. |
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* @param hDev The handle of the camera device. |
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* @param channel The channel index. |
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* @return The grab result. |
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*/ |
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public native GrabResult deviceGrabSingleFrame(long hDev, int channel); |
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/** |
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* Closes the camera device. |
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* @param hDev The handle of the camera device. |
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*/ |
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public native void deviceClose(long hDev); |
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/** |
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* Destroys the camera device. |
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* @param hDev The handle of the camera device. |
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*/ |
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public native void destroyDevice(long hDev); |
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} |
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@ -0,0 +1,65 @@ |
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package com.iflytop.gd.hardware.controller; |
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import com.iflytop.gd.hardware.drivers.CameraBaslerDriver; |
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import io.swagger.v3.oas.annotations.tags.Tag; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.opencv.core.Mat; |
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import org.springframework.beans.factory.annotation.Autowired; |
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import org.springframework.http.ResponseEntity; |
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import org.springframework.web.bind.annotation.*; |
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@Slf4j |
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@Tag(name = "Basler相机驱动控制器") |
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@RestController |
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@RequestMapping("/api/basler") |
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@RequiredArgsConstructor |
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public class BaslerCameraController { |
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@Autowired |
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private CameraBaslerDriver driver; |
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// 设置相机索引 |
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@PostMapping("/setIndex") |
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public ResponseEntity<String> setIndex(@RequestParam Integer index) { |
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driver.setIndex(index); |
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log.info("设置相机索引为: {}", index); |
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return ResponseEntity.ok("设置相机索引为: " + index); |
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} |
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// 使能相机 |
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@PostMapping("/enable") |
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public ResponseEntity<String> enable() { |
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driver.enable(); |
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return ResponseEntity.ok("相机已使能"); |
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} |
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// 关闭相机 |
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@PostMapping("/disable") |
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public ResponseEntity<String> disable() { |
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driver.disable(); |
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return ResponseEntity.ok("相机已关闭"); |
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} |
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// 抓取Mat对象（仅演示返回字符串，实际可自定义返回格式） |
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@GetMapping("/grabToMat") |
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public ResponseEntity<String> grabToMat() { |
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Mat mat = driver.grabToMat(); |
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log.info("抓取Mat成功，尺寸: {}x{}", mat.rows(), mat.cols()); |
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return ResponseEntity.ok("抓取Mat成功，尺寸: " + mat.rows() + "x" + mat.cols()); |
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} |
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// 保存图片 |
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@PostMapping("/saveImg") |
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public ResponseEntity<String> saveImg(@RequestParam String filePath) { |
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driver.saveImg(filePath); |
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return ResponseEntity.ok("图片已保存到: " + filePath); |
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} |
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|
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// 保存彩色图片 |
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@PostMapping("/saveColorImg") |
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public ResponseEntity<String> saveColorImg(@RequestParam String filePath) { |
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driver.saveColorImg(filePath); |
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return ResponseEntity.ok("彩色图片已保存到: " + filePath); |
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} |
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} |
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@ -0,0 +1,148 @@ |
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package com.iflytop.gd.hardware.drivers; |
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import com.iflytop.gd.camera.BaslerCameraWrapper; |
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import lombok.extern.slf4j.Slf4j; |
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import org.opencv.core.CvType; |
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import org.opencv.core.Mat; |
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import org.opencv.imgcodecs.Imgcodecs; |
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import org.opencv.imgproc.Imgproc; |
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import org.springframework.stereotype.Component; |
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@Slf4j |
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@Component |
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public class CameraBaslerDriver { |
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// camera |
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private static BaslerCameraWrapper pylon = null; |
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// index |
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private Integer index = 0; |
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// channel |
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protected Integer channel = 0; |
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// camera handle |
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private long cam = -1; |
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// 设置相机索引 |
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public void setIndex(Integer index) { |
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this.index = index; |
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log.info("设置相机索引为: {}", index); |
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} |
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|
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// get pylon |
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private BaslerCameraWrapper getPylon() { |
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if (null == CameraBaslerDriver.pylon) { |
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CameraBaslerDriver.pylon = new BaslerCameraWrapper(); |
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CameraBaslerDriver.pylon.initialize(); |
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log.info("Basler相机库初始化完成"); |
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} |
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return CameraBaslerDriver.pylon; |
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} |
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// 使能相机 |
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public void enable() { |
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if (-1 != this.cam) { |
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log.info("相机已使能，句柄: {}", this.cam); |
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return; |
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} |
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try { |
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var pylon = this.getPylon(); |
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int count = pylon.enumerateDevices(); |
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if (this.index >= count) { |
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log.error("相机索引超出范围: {}", this.index); |
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throw new RuntimeException("相机索引超出范围: " + this.index); |
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} |
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this.cam = pylon.createDeviceByIndex(this.index); |
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pylon.deviceOpen(this.cam, BaslerCameraWrapper.ACCESS_MODE_CONTROL | BaslerCameraWrapper.ACCESS_MODE_STREAM); |
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|
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boolean isFeatureReadable = pylon.deviceFeatureIsReadable(cam, "DeviceModelName"); |
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if (isFeatureReadable) { |
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String name = pylon.deviceFeatureToString(cam, "DeviceModelName", 256); |
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log.info("相机型号: {}", name); |
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} |
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|
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// pylon.deviceFeatureFromString(cam, "PixelFormat", "Mono8"); |
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pylon.deviceFeatureFromString(cam, "PixelFormat", "BayerRG8"); |
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pylon.deviceFeatureFromString(cam, "TriggerSelector", "AcquisitionStart"); |
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pylon.deviceFeatureFromString(cam, "TriggerMode", "Off"); |
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pylon.deviceFeatureFromString(cam, "TriggerSelector", "FrameStart"); |
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pylon.deviceFeatureFromString(cam, "TriggerMode", "Off"); |
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pylon.deviceSetIntegerFeature(cam, "GevSCPSPacketSize", 1500); |
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pylon.deviceFeatureFromString(cam, "ExposureAuto", "Off"); |
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pylon.deviceSetIntegerFeature(cam, "ExposureTimeRaw", 27218); |
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log.info("相机使能成功，句柄: {}", this.cam); |
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} catch (Exception e) { |
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log.error("相机使能失败: {}", e.getMessage(), e); |
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throw new RuntimeException("相机使能失败: " + e.getMessage(), e); |
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} |
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} |
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|
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// 关闭相机 |
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public void disable() { |
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if (-1 == this.cam) { |
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log.info("相机未使能，无需关闭"); |
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return; |
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} |
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var pylon = this.getPylon(); |
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pylon.deviceClose(this.cam); |
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log.info("相机关闭，句柄: {}", this.cam); |
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this.cam = -1; |
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} |
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|
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// 抓取图像为Mat |
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public Mat grabToMat() { |
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if (this.cam == -1) { |
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log.error("抓图失败：相机未使能"); |
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throw new RuntimeException("抓图失败：相机未使能"); |
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} |
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var pylon = this.getPylon(); |
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var result = pylon.deviceGrabSingleFrame(this.cam, this.channel); |
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if (result == null || result.imageBuffer == null) { |
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log.error("抓图失败：未获取到图像数据"); |
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throw new RuntimeException("抓图失败：未获取到图像数据"); |
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} |
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Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1); |
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frameMat.put(0, 0, result.imageBuffer); |
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log.info("抓图成功，返回Mat对象"); |
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return frameMat; |
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} |
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|
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// 抓图并保存图片 |
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public void saveImg(String filePath) { |
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if (this.cam == -1) { |
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log.error("保存图片失败：相机未使能"); |
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throw new RuntimeException("保存图片失败：相机未使能"); |
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} |
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var pylon = this.getPylon(); |
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var result = pylon.deviceGrabSingleFrame(this.cam, this.channel); |
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if (result == null || result.imageBuffer == null) { |
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log.error("保存图片失败：未获取到图像数据"); |
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throw new RuntimeException("保存图片失败：未获取到图像数据"); |
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} |
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Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1); |
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frameMat.put(0, 0, result.imageBuffer); |
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Imgcodecs.imwrite(filePath, frameMat); |
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log.info("图片已保存到: {}", filePath); |
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} |
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|
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// 抓图并保存彩色图片 |
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public void saveColorImg(String filePath) { |
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if (this.cam == -1) { |
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log.error("保存彩色图片失败：相机未使能"); |
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throw new RuntimeException("保存彩色图片失败：相机未使能"); |
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} |
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var pylon = this.getPylon(); |
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var result = pylon.deviceGrabSingleFrame(this.cam, this.channel); |
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if (result == null || result.imageBuffer == null) { |
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log.error("保存彩色图片失败：未获取到图像数据"); |
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throw new RuntimeException("保存彩色图片失败：未获取到图像数据"); |
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} |
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// 假设 result.imageBuffer 为8位单通道灰度，实际彩色需根据SDK返回格式调整 |
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Mat frameMat = new Mat(result.sizeY, result.sizeX, CvType.CV_8UC1); |
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frameMat.put(0, 0, result.imageBuffer); |
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|
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Mat colorMat = new Mat(); |
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Imgproc.cvtColor(frameMat, colorMat, Imgproc.COLOR_BayerRG2RGB); |
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|
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Imgcodecs.imwrite(filePath, colorMat); |
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log.info("彩色图片已保存到: {}", filePath); |
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} |
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} |
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