工作需要購置樹莓派４ｂ板子兩塊，現記錄一下搭建開發環境的過程
一、樹莓派系統鏡像燒寫
1、官網下載最新系統鏡像，我下的文件名為:2020-08-20-raspios-buster-armhf.img
２、准備一張１６Ｇ的內存卡，使用專門的格式化工具SDFormatter格式化SD卡。
３、Windows系統下下載安裝燒寫鏡像工具Win32DiskImager。
(1)選擇下載的系統鏡像文件
(2)'設備'選擇SD卡盤符.
(3)點擊'寫入'開始安裝系統.安裝結束后彈出完成對話框說明安裝完成.
PS:在SD卡安裝了Linux系統之后,再到Windows系統下查看,只剩下100多兆的容量.這是因為Linux系統下的分區Window是下是看不到的！裝了Linux系統后，SD卡會分成三種格式的分區，分別是FAT32、EXT3、SWAP2
EXT3區屬於Linux的文件系統，就和Windows的C盤一樣；Swap區為Linux的虛擬內存區，主要在物理內存不夠用的時候做緩存用的。以上兩個，是Linux的分區。FAT32就是Windows看到的那100多兆了。
燒錄成功后系統會因為無法識別分區而提示格式化分區，此時不要格式化，直接彈出內存卡即可。
二、啟動樹莓派
因為我沒買顯示器，所以我這里要用到 無屏幕有線遠程啟動樹莓派（SSH）
1、開啟SSH
將SD卡使用讀卡器連接到電腦上，並打開SD卡盤符，新建“ｓｓｈ”文件（無后綴）即可。
２、獲取樹莓派IP地址
首先確認連接方式，我這里使用的連接方式為：開發用的Windows電腦通過無線網連接到Internet，而樹莓派我同過網線連在了提供無線網的路由器上。
我這里找到3種找到樹莓派IP地址的方式：
（1）使用遠程登陸軟件Advanced IP Scanner ，點擊‘掃描’，找到制作商為Raspberry Pi Foundation的地址信息，確認開機狀態后記住該條信息的IP。
（2）在windows電腦上打開CMD命令行頁面，輸入arp -a可以找到樹莓派的IP地址，但是這個會出來很多IP地址，你需要從中間選出樹莓派的IP。
（3）用手機登陸路由器的后台管理員頁面，可以看到已連接設備信息，包括IP地址。
3、使用SSH工具遠程登陸樹莓派
我這里沒有用官方推薦的Putty工具，選擇了MobaXterm這個軟件，以前學習嵌入式Linux的時候看到韋東山老師用這個軟件，發現很好用。
輸入剛剛確認的樹莓派的IP地址，用戶名為pi，密碼為raspberry
PS：輸入密碼的時候是不顯示的，輸入完直接回車就OK了
如果出現Access denied這個提示，說明你SSH沒打開，重新進行一下第二章的第一步開始SSH
出現下圖界面，說明樹莓派已經成功啟動了！！
因為我需要用它來驅動IDS相機並做圖像處理，所以需要配置開發環境
一、安裝遠程桌面
因為用到相機，想着能看到運行情況會好很多。一般來講，通過SSH管理樹莓派已經足足夠用。
（1）在樹莓派上安裝VNCServer
命令：sudo apt-get install tightvncserver
（2）啟動一個VNC流，啟動時會要求設置密碼。
命令tightvncserver :1
（3）在實際使用的電腦上下載VNCViewer
https://www.realvnc.com/en/connect/download/viewer/windows/
安裝完成后啟動該程序，輸入樹莓派的IP地址和VNC流的代號（也就是剛剛的:1）最后輸入剛剛設置的密碼，就可以使用遠程桌面了。
二、安裝IDS相機驅動
到IDS官網下載相應型號相機的Linux驅動．我下載到的驅動文件為.tgz格式。通過MobaXterm將驅動文件發送到樹莓派中，進入到驅動文件目錄下，解壓：sudo tar zxvf test.tgz
會得到一個.run文件，suod ./運行這個文件即可開始安裝該驅動
三、安裝python模塊
安裝任何軟件前都要使用sudo apt-get update命令更新一下軟件包。
（1）sudo pip install pyueye
（2）sudo apt-get install libopencv-dev python-opencv 安裝opencv，如果出錯，就執行一下sudo apt-get update命令
（3）sudo apt-get install python-qt4 python-qt4-doc
四、運行示例程序進行測試
from pyueye import ueye import numpy as np import cv2 import sys #--------------------------------------------------------------------------------------------------------------------------------------- #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")
結果：
