ubuntu16.04下basler工业相机的配置与使用

本帖旨在記錄一下在Ubuntu16.04下配置basler工業相機pylon sdk，以及結合opencv進行CMake配置使用的一些事項。

1.Prerequisite

ubuntu16.04 + Basler工業相機 + pylon5 sdk

給個傳送門：Pylon下載

2.pylon的安裝

解压安装包，把里面的SDK安装包解压到/opt目录下。

 

按照install的说法：

To install the pylon 5 Camera Software Suite in /opt/pylon5
follow these steps:

  1. Change to the directory which contains this INSTALL file, e.g.:
       cd ~/pylon-5.2.x.y-<ARCH>

  2. Extract the corresponding SDK into /opt
       sudo tar -C /opt -xzf pylonSDK*.tar.gz

  3. Install udev-rules to set up permissions for Basler USB cameras
     (Not required if installing using the Debian packages (*.deb))
       ./setup-usb.sh

  4. Unplug and replug all USB cameras to get the udev rules applied.

  5. Execute /opt/pylon5/bin/PylonViewerApp to test your cameras.

 Readme里面有一句添加环境变量的，如下：

## For your convenience, we created the pylon-setup-env.sh script located in the
## pylon5/bin directory which can carry out the complete setup.

## To setup the environment for a pylon installation in <path> execute:
##  source <path>/bin/pylon-setup-env.sh <path>

## If you want the environment for the standard installation to be persistent, you
## can add
##    source /path/to/your/pylon5/bin/pylon-setup-env.sh /path/to/your/pylon5
## to ~/.bashrc

# 将下面这句加入~/.bashrc即可。我的如下：
 source /opt/pylon5/bin/pylon-setup-env.sh /opt/pylon5

这一步完了之后连接上相机，打开PylonviewerApp可以看到相机，并且打开的。

3.CMake配置使用

直接粘上师兄门写的引用pylon sdk的 include目录和库目录，如下。

# 包含头文件
include_directories(/opt/pylon5/include)
link_directories(/opt/pylon5/lib64)

# target_link
target_link_libraries(vis_basler
		${catkin_LIBRARIES}
 		${OpenCV_LIBS}
		X11
		pylonbase
  		pylonutility
		GCBase_gcc_v3_1_Basler_pylon
  		GCBase_gcc_v3_1_Basler_pylon_v5_1
		GenApi_gcc_v3_1_Basler_pylon
 		GenApi_gcc_v3_1_Basler_pylon_v5_1
)

具体的sdk使用教程还得学官方文档和samples，先记录到这儿了，加油。