first commit

camera_basler_capture_img/camera_basler_capture_test1img.py

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+# camera_capture.py
+import os
+from pypylon import pylon
+import cv2
+from datetime import datetime
+
+
+def search_get_device():
+    """搜索并返回 Basler GigE 相机对象"""
+    tl_factory = pylon.TlFactory.GetInstance()
+    for dev_info in tl_factory.EnumerateDevices():
+        if dev_info.GetDeviceClass() == 'BaslerGigE':
+            print(f"Found Basler GigE Camera: {dev_info.GetModelName()}  IP: {dev_info.GetIpAddress()}")
+            return pylon.InstantCamera(tl_factory.CreateDevice(dev_info))
+    raise EnvironmentError("没有找到 Basler GigE 相机")
+
+
+def grab_image(save=True):
+    """
+    采集一张图像并返回 numpy ndarray（BGR）
+    save=True 时自动保存 PNG 文件到 camera/ 文件夹
+    """
+    # 创建保存目录
+    save_dir = "camera"
+    os.makedirs(save_dir, exist_ok=True)
+
+    cam = search_get_device()
+    cam.Open()
+
+    # 设置图像转换器（BGR8 → OpenCV格式）
+    converter = pylon.ImageFormatConverter()
+    converter.OutputPixelFormat = pylon.PixelType_BGR8packed
+    converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned
+
+    cam.StartGrabbing(pylon.GrabStrategy_LatestImageOnly)
+
+    grabResult = cam.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException)
+
+    if grabResult.GrabSucceeded():
+        image = converter.Convert(grabResult)
+        img = image.GetArray()     # OpenCV 可处理的 ndarray
+        print("成功采集图像:", img.shape)
+
+        # 保存 PNG
+        if save:
+            filename = os.path.join(save_dir, f"Image_{datetime.now().strftime('%Y%m%d_%H%M%S')}.png")
+            cv2.imwrite(filename, img)
+            print("已保存:", filename)
+
+    else:
+        print("采集失败:", grabResult.ErrorCode, grabResult.ErrorDescription)
+        img = None
+
+    grabResult.Release()
+    cam.Close()
+    return img
+
+
+if __name__ == "__main__":
+    img = grab_image(save=True)
+    if img is not None:
+        print("图像类型:", type(img))
+        print("图像尺寸:", img.shape)

camera_basler_capture_img/camera_main.py

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+import threading
+import queue
+import cv2
+from pypylon import pylon
+from datetime import datetime
+import os
+
+# =================== 配置 ===================
+SAVE_DIR = "camera/continuous"
+SAVE_EVERY_N_FRAMES = 1 # 每N帧保存一张，None表示不保存
+SHOW = True
+QUEUE_MAXSIZE = 50
+
+# =================== 相机搜索 ===================
+def search_get_device():
+    """搜索并返回 Basler GigE 相机对象"""
+    tl_factory = pylon.TlFactory.GetInstance()
+    for dev_info in tl_factory.EnumerateDevices():
+        if dev_info.GetDeviceClass() == 'BaslerGigE':
+            print(f"Found Basler GigE Camera: {dev_info.GetModelName()}  IP: {dev_info.GetIpAddress()}")
+            return pylon.InstantCamera(tl_factory.CreateDevice(dev_info))
+    raise EnvironmentError("没有找到 Basler GigE 相机")
+
+# =================== 异步处理线程 ===================
+frame_queue = queue.Queue(maxsize=QUEUE_MAXSIZE)
+exit_event = threading.Event()
+
+def worker(save_dir, save_every_n_frames, show):
+    frame_count = 0
+    while not exit_event.is_set():
+        try:
+            item = frame_queue.get(timeout=0.1)  # 队列空时短暂等待
+        except queue.Empty:
+            continue
+
+        if item is None:
+            break
+
+        img, frame_num = item
+        frame_count += 1
+
+        # 显示图像
+        if show:
+            cv2.imshow("Basler Live Feed", img)
+            if cv2.waitKey(1) & 0xFF in (ord('q'), 27):
+                exit_event.set()
+                break
+
+        # 保存图像
+        if save_every_n_frames and frame_num % save_every_n_frames == 0:
+            timestamp = datetime.now().strftime('%Y%m%d_%H%M%S_%f')[:-3]
+            filename = os.path.join(save_dir, f"frame_{frame_num:06d}_{timestamp}.png")
+            cv2.imwrite(filename, img)
+            print(f"[Saved] {filename}")
+
+    if show:
+        cv2.destroyAllWindows()
+
+# =================== 主采集函数 ===================
+def continuous_grab(save_dir=SAVE_DIR, show=SHOW, save_every_n_frames=SAVE_EVERY_N_FRAMES):
+    os.makedirs(save_dir, exist_ok=True)
+    cam = search_get_device()
+    cam.Open()
+    # Load the User Set 1 user set
+    cam.UserSetSelector.Value = "UserSet1"
+    cam.UserSetLoad.Execute()
+    cam.MaxNumBuffer = 30
+
+    converter = pylon.ImageFormatConverter()
+    converter.OutputPixelFormat = pylon.PixelType_BGR8packed
+    converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned
+
+    # 启动异步处理线程
+    t = threading.Thread(target=worker, args=(save_dir, save_every_n_frames, show), daemon=True)
+    t.start()
+
+    cam.StartGrabbing(pylon.GrabStrategy_LatestImageOnly)
+    frame_count = 0
+    try:
+        while cam.IsGrabbing() and not exit_event.is_set():
+            grab_result = cam.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException)
+            if grab_result.GrabSucceeded():
+                image = converter.Convert(grab_result)
+                img = image.GetArray()
+                frame_count += 1
+
+                # 拷贝一份到队列
+                if not frame_queue.full():
+                    frame_queue.put((img.copy(), frame_count))
+            grab_result.Release()
+
+    except KeyboardInterrupt:
+        print("被 Ctrl+C 中断")
+        cam.StopGrabbing()
+        cam.Close()
+        exit_event.set()
+
+    finally:
+        cam.StopGrabbing()
+        cam.Close()
+        # 通知线程退出
+        frame_queue.put(None)
+        t.join()
+        print(f"共采集 {frame_count} 帧")
+
+# =================== 主入口 ===================
+if __name__ == "__main__":
+    continuous_grab()