树莓派 python开发_树莓派４ｂ开发之开发环境搭建

工作需要购置树莓派４ｂ板子两块，现记录一下搭建开发环境的过程

一、树莓派系统镜像烧写

1、官网下载最新系统镜像，我下的文件名为:2020-08-20-raspios-buster-armhf.img

２、准备一张１６Ｇ的内存卡，使用专门的格式化工具SDFormatter格式化SD卡。

３、Windows系统下下载安装烧写镜像工具Win32DiskImager。

(1)选择下载的系统镜像文件

(2)'设备'选择SD卡盘符.

(3)点击'写入'开始安装系统.安装结束后弹出完成对话框说明安装完成.

PS:在SD卡安装了Linux系统之后,再到Windows系统下查看,只剩下100多兆的容量.这是因为Linux系统下的分区Window是下是看不到的！装了Linux系统后，SD卡会分成三种格式的分区，分别是FAT32、EXT3、SWAP2

EXT3区属于Linux的文件系统，就和Windows的C盘一样；Swap区为Linux的虚拟内存区，主要在物理内存不够用的时候做缓存用的。以上两个，是Linux的分区。FAT32就是Windows看到的那100多兆了。

烧录成功后系统会因为无法识别分区而提示格式化分区，此时不要格式化，直接弹出内存卡即可。

二、启动树莓派

因为我没买显示器，所以我这里要用到 无屏幕有线远程启动树莓派（SSH）

1、开启SSH

将SD卡使用读卡器连接到电脑上，并打开SD卡盘符，新建“ｓｓｈ”文件（无后缀）即可。

２、获取树莓派IP地址

首先确认连接方式，我这里使用的连接方式为：开发用的Windows电脑通过无线网连接到Internet，而树莓派我同过网线连在了提供无线网的路由器上。

我这里找到3种找到树莓派IP地址的方式：

（1）使用远程登陆软件Advanced IP Scanner ，点击‘扫描’，找到制作商为Raspberry Pi Foundation的地址信息，确认开机状态后记住该条信息的IP。

（2）在windows电脑上打开CMD命令行页面，输入arp -a可以找到树莓派的IP地址，但是这个会出来很多IP地址，你需要从中间选出树莓派的IP。

（3）用手机登陆路由器的后台管理员页面，可以看到已连接设备信息，包括IP地址。

3、使用SSH工具远程登陆树莓派

我这里没有用官方推荐的Putty工具，选择了MobaXterm这个软件，以前学习嵌入式Linux的时候看到韦东山老师用这个软件，发现很好用。

输入刚刚确认的树莓派的IP地址，用户名为pi，密码为raspberry

PS：输入密码的时候是不显示的，输入完直接回车就OK了

如果出现Access denied这个提示，说明你SSH没打开，重新进行一下第二章的第一步开始SSH

出现下图界面，说明树莓派已经成功启动了！！

因为我需要用它来驱动IDS相机并做图像处理，所以需要配置开发环境

一、安装远程桌面

因为用到相机，想着能看到运行情况会好很多。一般来讲，通过SSH管理树莓派已经足足够用。

（1）在树莓派上安装VNCServer

命令：sudo apt-get install tightvncserver

（2）启动一个VNC流，启动时会要求设置密码。

命令tightvncserver :1

（3）在实际使用的电脑上下载VNCViewer

安装完成后启动该程序，输入树莓派的IP地址和VNC流的代号（也就是刚刚的:1）最后输入刚刚设置的密码，就可以使用远程桌面了。

二、安装IDS相机驱动

到IDS官网下载相应型号相机的Linux驱动．我下载到的驱动文件为.tgz格式。通过MobaXterm将驱动文件发送到树莓派中，进入到驱动文件目录下，解压：sudo tar zxvf test.tgz

会得到一个.run文件，suod ./运行这个文件即可开始安装该驱动

三、安装python模块

安装任何软件前都要使用sudo apt-get update命令更新一下软件包。

（1）sudo pip install pyueye

（2）sudo apt-get install libopencv-dev python-opencv　　安装opencv，如果出错，就执行一下sudo apt-get update命令

（3）sudo apt-get install python-qt4 python-qt4-doc

四、运行示例程序进行测试

from pyueye importueyeimportnumpy as npimportcv2importsys#---------------------------------------------------------------------------------------------------------------------------------------

#Variables

hCam = ueye.HIDS(0) #0: first available camera; 1-254: The camera with the specified camera ID

sInfo =ueye.SENSORINFO()

cInfo=ueye.CAMINFO()

pcImageMemory=ueye.c_mem_p()

MemID=ueye.int()

rectAOI=ueye.IS_RECT()

pitch=ueye.INT()

nBitsPerPixel= ueye.INT(24) #24: bits per pixel for color mode; take 8 bits per pixel for monochrome

channels = 3 #3: channels for color mode(RGB); take 1 channel for monochrome

m_nColorMode = ueye.INT() #Y8/RGB16/RGB24/REG32

bytes_per_pixel = int(nBitsPerPixel / 8)#---------------------------------------------------------------------------------------------------------------------------------------

print("START")print()#Starts the driver and establishes the connection to the camera

nRet =ueye.is_InitCamera(hCam, None)if nRet !=ueye.IS_SUCCESS:print("is_InitCamera ERROR")#Reads out the data hard-coded in the non-volatile camera memory and writes it to the data structure that cInfo points to

nRet =ueye.is_GetCameraInfo(hCam, cInfo)if nRet !=ueye.IS_SUCCESS:print("is_GetCameraInfo ERROR")#You can query additional information about the sensor type used in the camera

nRet =ueye.is_GetSensorInfo(hCam, sInfo)if nRet !=ueye.IS_SUCCESS:print("is_GetSensorInfo ERROR")

nRet=ueye.is_ResetToDefault( hCam)if nRet !=ueye.IS_SUCCESS:print("is_ResetToDefault ERROR")#Set display mode to DIB

nRet =ueye.is_SetDisplayMode(hCam, ueye.IS_SET_DM_DIB)#Set the right color mode

if bytes(sInfo.nColorMode.value) ==ueye.IS_COLORMODE_BAYER:#setup the color depth to the current windows setting

ueye.is_GetColorDepth(hCam, nBitsPerPixel, m_nColorMode)

bytes_per_pixel= int(nBitsPerPixel / 8)print("IS_COLORMODE_BAYER:", )print("\tm_nColorMode: \t\t", m_nColorMode)print("\tnBitsPerPixel: \t\t", nBitsPerPixel)print("\tbytes_per_pixel: \t\t", bytes_per_pixel)print()elif bytes(sInfo.nColorMode.value) ==ueye.IS_COLORMODE_CBYCRY:#for color camera models use RGB32 mode

m_nColorMode =ueye.IS_CM_BGRA8_PACKED

nBitsPerPixel= ueye.INT(32)

bytes_per_pixel= int(nBitsPerPixel / 8)print("IS_COLORMODE_CBYCRY:", )print("\tm_nColorMode: \t\t", m_nColorMode)print("\tnBitsPerPixel: \t\t", nBitsPerPixel)print("\tbytes_per_pixel: \t\t", bytes_per_pixel)print()elif bytes(sInfo.nColorMode.value) ==ueye.IS_COLORMODE_MONOCHROME:#for color camera models use RGB32 mode

m_nColorMode =ueye.IS_CM_MONO8

nBitsPerPixel= ueye.INT(8)

bytes_per_pixel= int(nBitsPerPixel / 8)print("IS_COLORMODE_MONOCHROME:", )print("\tm_nColorMode: \t\t", m_nColorMode)print("\tnBitsPerPixel: \t\t", nBitsPerPixel)print("\tbytes_per_pixel: \t\t", bytes_per_pixel)print()else:#for monochrome camera models use Y8 mode

m_nColorMode =ueye.IS_CM_MONO8

nBitsPerPixel= ueye.INT(8)

bytes_per_pixel= int(nBitsPerPixel / 8)print("else")#Can be used to set the size and position of an "area of interest"(AOI) within an image

nRet =ueye.is_AOI(hCam, ueye.IS_AOI_IMAGE_GET_AOI, rectAOI, ueye.sizeof(rectAOI))if nRet !=ueye.IS_SUCCESS:print("is_AOI ERROR")

width=rectAOI.s32Width

height=rectAOI.s32Height#Prints out some information about the camera and the sensor

print("Camera model:\t\t", sInfo.strSensorName.decode('utf-8'))print("Camera serial no.:\t", cInfo.SerNo.decode('utf-8'))print("Maximum image width:\t", width)print("Maximum image height:\t", height)print()#---------------------------------------------------------------------------------------------------------------------------------------

#Allocates an image memory for an image having its dimensions defined by width and height and its color depth defined by nBitsPerPixel

nRet =ueye.is_AllocImageMem(hCam, width, height, nBitsPerPixel, pcImageMemory, MemID)if nRet !=ueye.IS_SUCCESS:print("is_AllocImageMem ERROR")else:#Makes the specified image memory the active memory

nRet =ueye.is_SetImageMem(hCam, pcImageMemory, MemID)if nRet !=ueye.IS_SUCCESS:print("is_SetImageMem ERROR")else:#Set the desired color mode

nRet =ueye.is_SetColorMode(hCam, m_nColorMode)#Activates the camera's live video mode (free run mode)

nRet =ueye.is_CaptureVideo(hCam, ueye.IS_DONT_WAIT)if nRet !=ueye.IS_SUCCESS:print("is_CaptureVideo ERROR")#Enables the queue mode for existing image memory sequences

nRet =ueye.is_InquireImageMem(hCam, pcImageMemory, MemID, width, height, nBitsPerPixel, pitch)if nRet !=ueye.IS_SUCCESS:print("is_InquireImageMem ERROR")else:print("Press q to leave the programm")#---------------------------------------------------------------------------------------------------------------------------------------

#Continuous image display

while(nRet ==ueye.IS_SUCCESS):#In order to display the image in an OpenCV window we need to...

#...extract the data of our image memory

array = ueye.get_data(pcImageMemory, width, height, nBitsPerPixel, pitch, copy=False)#bytes_per_pixel = int(nBitsPerPixel / 8)

#...reshape it in an numpy array...

frame =np.reshape(array,(height.value, width.value, bytes_per_pixel))#...resize the image by a half

frame = cv2.resize(frame,(0,0),fx=0.5, fy=0.5)#---------------------------------------------------------------------------------------------------------------------------------------

#Include image data processing here

#---------------------------------------------------------------------------------------------------------------------------------------

#...and finally display it

cv2.imshow("SimpleLive_Python_uEye_OpenCV", frame)#Press q if you want to end the loop

if cv2.waitKey(1) & 0xFF == ord('q'):break

#---------------------------------------------------------------------------------------------------------------------------------------

#Releases an image memory that was allocated using is_AllocImageMem() and removes it from the driver management

ueye.is_FreeImageMem(hCam, pcImageMemory, MemID)#Disables the hCam camera handle and releases the data structures and memory areas taken up by the uEye camera

ueye.is_ExitCamera(hCam)#Destroys the OpenCv windows

cv2.destroyAllWindows()print()print("END")

结果：