camera.StartGrabbing();
                                CPylonImage image;
                                CImageFormatConverter fc;
                                fc.OutputPixelFormat = PixelType_RGB8packed;

                                while(camera.IsGrabbing())
                                        {
               camera.RetrieveResult( 1000, ptrGrabResult, TimeoutHandling_ThrowException);
                                            if (ptrGrabResult->GrabSucceeded())
                                             {
             fc.Convert(image, ptrGrabResult);


                                              cv_img = cv::Mat(ptrGrabResult->GetHeight(),ptrGrabResult->GetWidth(), CV_8UC3,(uint8_t*)image.GetBuffer());
                                            d_frame= GpuMat(cv_img);
char key = (char) waitKey(1);

 if(waitKey(30)==27)
                                                {
                                                        camera.StopGrabbing();
                                                }


  }
}