void PylonCamera::execute()
{
if(!mCam) {
return;
}
try {
updateParams();
// This smart pointer will receive the grab result data.
CGrabResultPtr ptrGrabResult;
// Wait for an image and then retrieve it. A timeout of 1000 ms is used.
mCam->RetrieveResult(1000, ptrGrabResult);
// Image grabbed successfully=
if (ptrGrabResult && ptrGrabResult->GrabSucceeded()) {
CPylonImage target;
// Convert to correct format for vision system
CImageFormatConverter converter;
converter.OutputPixelFormat = PixelType_BGR8packed;
converter.OutputBitAlignment = OutputBitAlignment_MsbAligned;
converter.Convert(target, ptrGrabResult);
// Now the grab result can be released. The grab result buffer is now
// only held by the pylon image.
ptrGrabResult.Release();
// Create an RGBImage from converted data
RgbImage image(target.GetHeight(), target.GetWidth(), (uchar *)target.GetBuffer());
mOut.send(image.clone());
// The Release() method can be used to release any data.
target.Release();
}
}
catch (GenICam::GenericException &e) {
/*stop();
deinitialize();*/
throw std::runtime_error(e.GetDescription());
}
catch(const std::exception& e) {
throw std::runtime_error(e.what());
}
}
