After getting some help from the Basler technical support, I was directed to the following ftp link:
I went to the pylon 2.1.0 directory and downloaded the pylon-2.1.0-1748-bininst-64.tar.bz2 file. Inside of this tar file was another one called pylon-bininst-64.tar.bz2 (along with some other sample programs). I ran tar -jxf on pylon-bininst-64.tar.bz2 and placed the results into the /opt/pylon directory. It produced a directory of includes, libraries and binaries there.
After playing around with the make files for several sample programs they provided, I finally have been able to compile them. At several places I had to have the make files point to /opt/pylon/lib64 rather than /opt/pylon/lib. I'll be testing the camera with these programs on Monday. I'd also like to see if this particular distribution will work on Centos machines. There's some comments in one of the INSTALL help files suggesting packages needed for an install on Fedora 9, which may mean its possible to get this version working on the Centos machines.