Basler Pylon 4 SDK and OPENCV 2.4.8, Linux simple viewer - c++

Question

I am developing a simple camera viewer to test Basler camera acA1300-30gc. I am working in Ubuntu 14.04 with Basler Pylon 4 and OPENCV version 2.4.8 because I am going to develop a machine vision application and I need to analyze frames on the fly.
Based on OpenCV Display Image Tutorial, Sample Code in Pylon Documentation and this similar question I write the following code.
Code:
int main(int argc, char* argv[]) {
Pylon::PylonAutoInitTerm autoInitTerm;
Mat image(IM_HEIGHT, IM_WIDTH, CV_8UC3);
CGrabResultPtr ptrGrabResult;
//namedWindow(WIN_NAME,CV_WINDOW_AUTOSIZE);
try {
CInstantCamera camera( CTlFactory::GetInstance().CreateFirstDevice());
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
camera.StartGrabbing();
while(camera.IsGrabbing()){
camera.RetrieveResult( 5000, ptrGrabResult, TimeoutHandling_ThrowException);
if (ptrGrabResult->GrabSucceeded()){
memcpy(image.ptr(),ptrGrabResult->GetBuffer(),ptrGrabResult->GetWidth()*ptrGrabResult->GetHeight());
//if(!image.empty())
//imshow(WIN_NAME,image);
//if(waitKey(30)==27){
// camera.StopGrabbing();
//}
}
}
} catch (GenICam::GenericException &e) {
cerr << "An exception occurred." << endl << e.GetDescription() << endl;
}
//destroyWindow(WIN_NAME);
return 0;
}
I don't know why uncommenting namedWindow(WIN_NAME,CV_WINDOW_AUTOSIZE); the camera doesn't grab anymore.
I would be very grateful if some one could help me please.

Answer 1

// Grab.cpp
/*
Note: Before getting started, Basler recommends reading the Programmer's Guide topic
in the pylon C++ API documentation that gets installed with pylon.
If you are upgrading to a higher major version of pylon, Basler also
strongly recommends reading the Migration topic in the pylon C++ API documentation.
This sample illustrates how to grab and process images using the CInstantCamera class.
The images are grabbed and processed asynchronously, i.e.,
while the application is processing a buffer, the acquisition of the next buffer is done
in parallel.
The CInstantCamera class uses a pool of buffers to retrieve image data
from the camera device. Once a buffer is filled and ready,
the buffer can be retrieved from the camera object for processing. The buffer
and additional image data are collected in a grab result. The grab result is
held by a smart pointer after retrieval. The buffer is automatically reused
when explicitly released or when the smart pointer object is destroyed.
*/
#include <pylon/PylonIncludes.h>
#ifdef PYLON_WIN_BUILD
#include <pylon/PylonGUI.h>
#endif
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/core/core.hpp"
using namespace cv;
// Namespace for using pylon objects.
using namespace Pylon;
// Namespace for using cout.
using namespace std;
// Number of images to be grabbed.
static const uint32_t c_countOfImagesToGrab = 100;
int main(int argc, char* argv[])
{
// The exit code of the sample application.
int exitCode = 0;
// Automagically call PylonInitialize and PylonTerminate to ensure
// the pylon runtime system is initialized during the lifetime of this object.
Pylon::PylonAutoInitTerm autoInitTerm;
CGrabResultPtr ptrGrabResult;
namedWindow("CV_Image",WINDOW_AUTOSIZE);
try
{
CInstantCamera camera( CTlFactory::GetInstance().CreateFirstDevice());
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
camera.Open();
GenApi::CIntegerPtr width(camera.GetNodeMap().GetNode("Width"));
GenApi::CIntegerPtr height(camera.GetNodeMap().GetNode("Height"));
Mat cv_img(width->GetValue(), height->GetValue(), CV_8UC3);
camera.StartGrabbing();
CPylonImage image;
CImageFormatConverter fc;
fc.OutputPixelFormat = PixelType_RGB8packed;
while(camera.IsGrabbing()){
camera.RetrieveResult( 5000, ptrGrabResult, TimeoutHandling_ThrowException);
if (ptrGrabResult->GrabSucceeded()){
fc.Convert(image, ptrGrabResult);
cv_img = cv::Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC3,(uint8_t*)image.GetBuffer());
imshow("CV_Image",cv_img);
waitKey(1);
if(waitKey(30)==27){
camera.StopGrabbing();
}
}
}
}
catch (GenICam::GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
return exitCode;
}

Answer 2

take the grab.cpp sample code and add following code into the garb.cpp and it will work.
CImageFormatConverter fc;
fc.OutputPixelFormat = PixelType_BGR8packed;
CPylonImage image;
if (ptrGrabResult->GrabSucceeded())
{
fc.Convert(image, ptrGrabResult);
Mat cv_img = cv::Mat(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC3, (uint8_t*)image.GetBuffer());
imshow(src_window,cv_img);
waitKey(1);
}