CaptureToOpenGLMemory.cpp

The CaptureToOpenGLMemory program is a short example which shows how display the image data acquired by Impact Acquire using OpenGL.

Since

2.41.0

Note

The source code of this example makes use of the glfw and the glew project.

The following packages are needed to build the code:

Windows®

• OpenGL > 3.0
• GLEW binaries and headers (http://glew.sourceforge.net/)
• GLFW binaries and headers (https://www.glfw.org/)

Linux

• OpenGL > 3.0
• libglew
• libglew-dev
• libglfw3
• libglfw3-dev

Note

A C++ 11 compatible compiler is needed to build this example application! You might need to explicitly enable C++11 support in your Makefile!

CaptureToOpenGLMemory example:

1. Opens a device
2. Configures the device and tries to setup a OpenGL supported window.
3. Initializes OpenGL-managed memory and attaches this memory to image requests
4. Starts the image acquisition and displays the images using OpenGL in an OpenGL based window

How it works

For the continuous acquisition and memory allocation, this sample uses CaptureToUserMemory.cpp as a basis. So this example is recommended as a starting point before moving on here!

The example will list all available devices first. After selecting a device, the pixel formats supported by the display are listed for selection. If a device doesn't transmit the desired format the driver's internal format converter will generate the appropriate format. This consumes some time and should be avoided in a real world application if possible. After selecting a format to use, the image acquisition will start and display the output within a OpenGL supported window. To end the application the display window must be closed.

This example works like the CaptureToUserMemory.cpp example, but instead of allocating heap memory, a OpenGL pixel buffer object is created. To improve the image display times significantly, the image pixel data needs to be stored in a format, that is supported by OpenGL. The supported formats depend on the installed system graphics card, but most of the time RGBA or BGRA will work. In this case, the graphics pipeline is able to access the image data via DMA. This reduction of copy instructions leads to an improvement in image display time and cpu usage.

To display images, a window is created and set to the current OpenGL context.

//-----------------------------------------------------------------------------
bool OGLDisplayWindow::WindowInit( void )
//-----------------------------------------------------------------------------
{
  // Initialization of GLFW
  if( !glfwInit() )
  {
    std::cerr << "GLFW initialization failed" << std::endl;
    return false;
  }
 
  // create a window using GLFW
  pWindow_ = glfwCreateWindow( 1280, 720, title_.c_str(), NULL, NULL );
  if( !pWindow_ )
  {
    std::cerr << "Window creation failed" << std::endl;
    glfwTerminate();
    return false;
  }
  // create a valid OpenGL context in the current window
  glfwMakeContextCurrent( pWindow_ );
  glfwSetWindowPos( pWindow_, 540, 150 );
  // Only after creation of a context, glewInit() will work!
  if( glewInit() != GLEW_OK )
  {
    std::cout << "Error! GlewInit() failed..." << std::endl;
    return false;
  }
  std::cout << "Using OpenGL Version: " << glGetString( GL_VERSION ) << std::endl;
 
  glEnable( GL_TEXTURE_2D );
  glMatrixMode( GL_MODELVIEW );
  glLoadIdentity();
  return true;
}

One texture object is also needed and at least one pixel buffer object. The pixel buffers are now supplied as user managed memory to the image requests.

//-----------------------------------------------------------------------------
class UserSuppliedHeapBuffer
//-----------------------------------------------------------------------------
{
  char* pBuf_;
  unique_ptr<PixelBuffer> pPB_;
  unsigned int bufSize_;
  int alignment_;
public:
  explicit UserSuppliedHeapBuffer( int bufSize, int alignment ) : pBuf_( nullptr ), bufSize_( bufSize ), alignment_( alignment )
  {
    if( bufSize_ > 0 )
    {
      pPB_ = unique_ptr<PixelBuffer>( new PixelBuffer( bufSize_ ) );
      reallocate();
    }
  }
  ~UserSuppliedHeapBuffer()
  {
    if( pPB_ )
    {
      pPB_->Unmap();
    }
  }
  char* getPtr( void )
  {
    return pBuf_;
  }
  int getSize( void ) const
  {
    return bufSize_;
  }
  char* reallocate( void )
  {
    pBuf_ = reinterpret_cast<char*>( pPB_->Map() );
    assert( isAligned( reinterpret_cast<uintptr_t>( pBuf_ ), static_cast<uintptr_t>( alignment_ ) ) && "OpenGL memory cannot be allocated with a certain alignment, however this buffer according the restrictions applied by the device needs it!" );
    return pBuf_;
  }
  PixelBuffer* getBuffer( void ) const
  {
    return pPB_.get();
  }
};

After receiving a request with an acquired image, the pixel buffer is bound to the texture object. This texture can now be displayed by assigning it to a 2D canvas, that uses the whole window area.

//-----------------------------------------------------------------------------
void Texture::Draw( PixelBuffer* pBuffer )
//-----------------------------------------------------------------------------
{
  pBuffer->Bind();
  Bind();
  glUnmapBuffer( GL_PIXEL_UNPACK_BUFFER );
  GLCall( glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, width_, height_, dataFormat_, dataType_, 0 ) );
  glBegin( GL_QUADS );
  // bottom left
  glTexCoord2f( 0.0f, 0.0f );
  glVertex2f( -1.0f, 1.0f );
  // top left
  glTexCoord2f( 0.0f, 1.0f );
  glVertex2f( -1.0f, -1.0f );
  // top right
  glTexCoord2f( 1.0f, 1.0f );
  glVertex2f( 1.0f, -1.0f );
  // bottom right
  glTexCoord2f( 1.0f, 0.0f );
  glVertex2f( 1.0f, 1.0f );
  glEnd();
}

Please refer to the OpenGL documentation (https://www.opengl.org/) for detailed description of the used OpenGL functions.

OpenGLDisplay.h

#include <GL/glew.h>
#include <GLFW/glfw3.h>
#include <string>
 
//-----------------------------------------------------------------------------
/// \brief A class that can be used to display images in a window.
/**
*  Every instance of this class will create and display its own independent window.
*  Internally it uses OpenGL with GLEW and GLFW to display image data.
*/
class OGLDisplayWindow
//-----------------------------------------------------------------------------
{
private:
    GLuint width_;
    GLuint height_;
    std::string title_;
 
    GLFWwindow* pWindow_;
 
    OGLDisplayWindow( const OGLDisplayWindow& );           // do not allow copy constructor
    OGLDisplayWindow& operator=( const OGLDisplayWindow& ); // do not allow assignments
public:
    /// \brief Creates a new window that can be used to display image data and displays it.
    explicit OGLDisplayWindow(
        GLuint width,
        GLuint height,
        /// [in] The title of the window (will be displayed in the windows title bar).
        const std::string& title ) : width_( width ), height_( height ), title_( title ), pWindow_( 0 ) {}
    /// \brief destroys the display window and frees resources.
    ~OGLDisplayWindow();
    /// \brief Initialises the window and its OpenGL context.
    bool WindowInit( void );
    void WindowUpdate( void );
    void Clear( void );
    GLFWwindow* GetContextWindow()
    {
        return pWindow_;
    }
};
 
//-----------------------------------------------------------------------------
/// \brief A class that can be used to store image data in a pixel buffer.
/**
*  Every instance of this class will create its own pixel buffer inside the graphics memory.
*/
class PixelBuffer
//-----------------------------------------------------------------------------
{
private:
    GLuint rendererID_;
    GLuint size_;
 
public:
    explicit PixelBuffer( unsigned int size );
    ~PixelBuffer();
    void Bind( void );
    void* Map( void );
    void Unmap( void );
};
 
//-----------------------------------------------------------------------------
/// \brief A class that can be used to create a texture object.
/**
*  Every instance of this class will create a texture with a unique ID to refer to.
*/
class Texture
//-----------------------------------------------------------------------------
{
private:
    GLuint rendererID_;
    GLint outputFormat_;
    GLint dataFormat_;
    GLint dataType_;
    GLuint width_;
    GLuint height_;
 
    void Bind( void );
 
public:
    explicit Texture( GLuint width, GLuint height, GLint dataFormat = GL_RGB, GLint outputFormat = GL_RGB, GLint dataType = GL_UNSIGNED_BYTE );
    ~Texture();
 
    void Draw( PixelBuffer* pBuffer );
};

OpenGLDisplay.cpp

#include "OpenGLDisplay.h"
#include <iostream>
 
#ifdef _WIN32
#   define ASSERT(x) \
    if( !( x ) ) __debugbreak();
 
#   define GLCall(x) \
    while( glGetError() != GL_NO_ERROR ); \
    x; \
    ASSERT( GLLogCall( #x, __FILE__, __LINE__ ) )
 
//-----------------------------------------------------------------------------
static bool GLLogCall( const char* function, const char* file, int line )
//-----------------------------------------------------------------------------
{
    const GLenum err = glGetError();
    if( err != GL_NO_ERROR )
    {
        std::cout << "[OpenGL Error] (" << err << "): " << function << " " << file << ":" << line << std::endl;
    }
    return ( err == GL_NO_ERROR );
}
#else
#   define GLCall(x) x;
#endif
 
//=============================================================================
//================= Implementation OGLDisplayWindow ===========================
//=============================================================================
//-----------------------------------------------------------------------------
OGLDisplayWindow::~OGLDisplayWindow()
//-----------------------------------------------------------------------------
{
    glfwTerminate();
    glfwDestroyWindow( pWindow_ );
}
 
//-----------------------------------------------------------------------------
bool OGLDisplayWindow::WindowInit( void )
//-----------------------------------------------------------------------------
{
    // Initialization of GLFW
    if( !glfwInit() )
    {
        std::cerr << "GLFW initialization failed" << std::endl;
        return false;
    }
 
    // create a window using GLFW
    pWindow_ = glfwCreateWindow( 1280, 720, title_.c_str(), NULL, NULL );
    if( !pWindow_ )
    {
        std::cerr << "Window creation failed" << std::endl;
        glfwTerminate();
        return false;
    }
    // create a valid OpenGL context in the current window
    glfwMakeContextCurrent( pWindow_ );
    glfwSetWindowPos( pWindow_, 540, 150 );
    // Only after creation of a context, glewInit() will work!
    if( glewInit() != GLEW_OK )
    {
        std::cout << "Error! GlewInit() failed..." << std::endl;
        return false;
    }
    std::cout << "Using OpenGL Version: " << glGetString( GL_VERSION ) << std::endl;
 
    glEnable( GL_TEXTURE_2D );
    glMatrixMode( GL_MODELVIEW );
    glLoadIdentity();
    return true;
}
 
//-----------------------------------------------------------------------------
void OGLDisplayWindow::WindowUpdate( void )
//-----------------------------------------------------------------------------
{
    int width;
    int height;
    glfwGetWindowSize( pWindow_, &width, &height );
    glViewport( 0, 0, width, height );
    glfwSwapBuffers( pWindow_ );
    glfwPollEvents();
}
 
//-----------------------------------------------------------------------------
void OGLDisplayWindow::Clear( void )
//-----------------------------------------------------------------------------
{
    glClearColor( 0.5f, 0.8f, 0.5f, 1.0f );
    glClear( GL_COLOR_BUFFER_BIT );
}
 
//=============================================================================
//================= Implementation PixelBuffer ================================
//=============================================================================
//-----------------------------------------------------------------------------
PixelBuffer::PixelBuffer( unsigned int size ) : size_( ( GLuint )( size ) )
//-----------------------------------------------------------------------------
{
    glGenBuffers( 1, &rendererID_ );
}
 
//-----------------------------------------------------------------------------
PixelBuffer::~PixelBuffer()
//-----------------------------------------------------------------------------
{
    glDeleteBuffers( 1, &rendererID_ );
}
 
//-----------------------------------------------------------------------------
void PixelBuffer::Bind( void )
//-----------------------------------------------------------------------------
{
    glBindBuffer( GL_PIXEL_UNPACK_BUFFER, rendererID_ );
}
 
//-----------------------------------------------------------------------------
void* PixelBuffer::Map( void )
//-----------------------------------------------------------------------------
{
    Bind();
    glBufferData( GL_PIXEL_UNPACK_BUFFER, size_, NULL, GL_DYNAMIC_DRAW );
    return glMapBuffer( GL_PIXEL_UNPACK_BUFFER, GL_WRITE_ONLY );
}
 
//-----------------------------------------------------------------------------
void PixelBuffer::Unmap( void )
//-----------------------------------------------------------------------------
{
    Bind();
    glUnmapBuffer( GL_PIXEL_UNPACK_BUFFER );
}
 
//=============================================================================
//================= Implementation Texture ====================================
//=============================================================================
//-----------------------------------------------------------------------------
Texture::Texture( GLuint width, GLuint height, GLint dataFormat /*= GL_RGB*/, GLint outputFormat /*= GL_RGB*/, GLint dataType /*= GL_UNSIGNED_BYTE*/ ) : rendererID_( 0 ), outputFormat_( outputFormat ), dataFormat_( dataFormat ), dataType_( dataType ), width_( width ), height_( height )
//-----------------------------------------------------------------------------
{
    glGenTextures( 1, &rendererID_ );
    Bind();
    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE );
    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE );
    glTexImage2D( GL_TEXTURE_2D, 0, outputFormat_, width_, height_, 0, dataFormat_, dataType_, 0 );
}
 
//-----------------------------------------------------------------------------
Texture::~Texture()
//-----------------------------------------------------------------------------
{
    glDeleteTextures( 1, &rendererID_ );
}
 
//-----------------------------------------------------------------------------
void Texture::Bind( void )
//-----------------------------------------------------------------------------
{
    glBindTexture( GL_TEXTURE_2D, rendererID_ );
}
 
//-----------------------------------------------------------------------------
void Texture::Draw( PixelBuffer* pBuffer )
//-----------------------------------------------------------------------------
{
    pBuffer->Bind();
    Bind();
    glUnmapBuffer( GL_PIXEL_UNPACK_BUFFER );
    GLCall( glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, width_, height_, dataFormat_, dataType_, 0 ) );
    glBegin( GL_QUADS );
    // bottom left
    glTexCoord2f( 0.0f, 0.0f );
    glVertex2f( -1.0f, 1.0f );
    // top left
    glTexCoord2f( 0.0f, 1.0f );
    glVertex2f( -1.0f, -1.0f );
    // top right
    glTexCoord2f( 1.0f, 1.0f );
    glVertex2f( 1.0f, -1.0f );
    // bottom right
    glTexCoord2f( 1.0f, 0.0f );
    glVertex2f( 1.0f, 1.0f );
    glEnd();
}

CaptureToOpenGLMemory.cpp

#include <iostream>
#include <memory>
#include <apps/Common/exampleHelper.h>
#include <common/minmax.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>
#include <apps/CaptureToOpenGLMemory/OpenGLDisplay.h>
#include <chrono>
 
using namespace std;
using namespace mvIMPACT::acquire;
 
static bool s_boTerminated = false;
 
//=============================================================================
//================= Data type definitions =====================================
//=============================================================================
//-----------------------------------------------------------------------------
// the buffer we pass to the device driver must be aligned according to its requirements
// As we can't allocate aligned heap memory we will align it 'by hand'
class UserSuppliedHeapBuffer
//-----------------------------------------------------------------------------
{
    char* pBuf_;
    unique_ptr<PixelBuffer> pPB_;
    unsigned int bufSize_;
public:
    explicit UserSuppliedHeapBuffer( int bufSize ) : pBuf_( nullptr ), bufSize_( bufSize )
    {
        if( bufSize_ > 0 )
        {
            pPB_ = unique_ptr<PixelBuffer>( new PixelBuffer( bufSize_ ) );
            pBuf_ = reinterpret_cast<char*>( pPB_->Map() );
        }
    }
    ~UserSuppliedHeapBuffer()
    {
        if( pPB_ )
        {
            pPB_->Unmap();
        }
    }
    char* getPtr( void )
    {
        return pBuf_;
    }
    int getSize( void ) const
    {
        return bufSize_;
    }
    char* reallocate( void )
    {
        pBuf_ = reinterpret_cast<char*>( pPB_->Map() );
        return getPtr();
    }
    PixelBuffer* getBuffer( void ) const
    {
        return pPB_.get();
    }
};
 
using CaptureBufferContainer = std::vector<shared_ptr<UserSuppliedHeapBuffer>>;
 
//-----------------------------------------------------------------------------
struct CaptureParameter
//-----------------------------------------------------------------------------
{
    Device*                         pDev;
    FunctionInterface               fi;
    ImageRequestControl             irc;
    Statistics                      statistics;
    int                             bufferSize;
    int                             bufferAlignment;
    int                             bufferPitch;
    CaptureBufferContainer          buffers;
    GLenum                          bufferDataFormat;
    GLenum                          outputImageFormat;
    unique_ptr<OGLDisplayWindow>    pDisplay;
    Texture*                        pTex;
    explicit CaptureParameter( Device* p ) : pDev{ p }, fi{ p }, irc{ p }, statistics{ p },
        bufferSize{ 0 }, bufferAlignment{ 0 }, bufferPitch{ 0 }, bufferDataFormat( GL_BGRA ), outputImageFormat( GL_RGBA ), pDisplay{ nullptr }, pTex{ nullptr }
    {}
    void initPixelFormat( TImageBufferPixelFormat imageBufferPixelFormat )
    {
        switch( imageBufferPixelFormat )
        {
        case ibpfRGBx888Packed:
            bufferDataFormat = GL_BGRA;
            outputImageFormat = GL_RGBA;
            break;
        case ibpfMono8:
            bufferDataFormat = GL_RED;
            outputImageFormat = GL_LUMINANCE8;
            break;
        case ibpfRGB888Packed:
            bufferDataFormat = GL_BGR;
            outputImageFormat = GL_RGB;
            break;
        default:
            std::cout << "Unsupported imageBufferPixelFormat used in function " << __FUNCTION__ << ". Going to exit now!" << std::endl;
            exit( 42 );
        }
    }
};
 
int  createCaptureBuffer( FunctionInterface& fi, CaptureBufferContainer& buffers, const int bufferSize, const int bufferAlignment, const int bufferPitch, unsigned int requestNr );
int  createCaptureBuffers( FunctionInterface& fi, CaptureBufferContainer& buffers, const int bufferSize, const int bufferAlignment, const int bufferPitch );
void freeCaptureBuffer( FunctionInterface& fi, CaptureBufferContainer& buffers, unsigned int requestNr );
void freeCaptureBuffers( FunctionInterface& fi, CaptureBufferContainer& buffers );
void runLiveLoop( CaptureParameter& captureParams );
 
//-----------------------------------------------------------------------------
int createCaptureBuffer( FunctionInterface& fi, CaptureBufferContainer& buffers, const int bufferSize, const int /*bufferPitch*/, unsigned int requestNr )
//-----------------------------------------------------------------------------
{
    int functionResult = DMR_NO_ERROR;
    Request* pRequest = fi.getRequest( requestNr );
    shared_ptr<UserSuppliedHeapBuffer> pBuffer = make_shared<UserSuppliedHeapBuffer>( bufferSize );
    if( ( functionResult = pRequest->attachUserBuffer( pBuffer->getPtr(), pBuffer->getSize() ) ) != DMR_NO_ERROR )
    {
        cout << "An error occurred while attaching a buffer to request number " << requestNr << ": " << ImpactAcquireException::getErrorCodeAsString( functionResult ) << "." << endl;
        return -1;
    }
    buffers.push_back( pBuffer );
    return 0;
}
 
//-----------------------------------------------------------------------------
int createCaptureBuffers( FunctionInterface& fi, CaptureBufferContainer& buffers, const int bufferSize, const int bufferPitch )
//-----------------------------------------------------------------------------
{
    freeCaptureBuffers( fi, buffers );
 
    unsigned int requestCnt = fi.requestCount();
    for( unsigned int i = 0; i < requestCnt; i++ )
    {
        try
        {
            const int result = createCaptureBuffer( fi, buffers, bufferSize, bufferPitch, i );
            if( result != 0 )
            {
                freeCaptureBuffers( fi, buffers );
                return result;
            }
        }
        catch( const ImpactAcquireException& e )
        {
            freeCaptureBuffers( fi, buffers );
            return e.getErrorCode();
        }
    }
    return 0;
}
 
//-----------------------------------------------------------------------------
void freeCaptureBuffer( FunctionInterface& fi, CaptureBufferContainer& buffers, unsigned int requestNr )
//-----------------------------------------------------------------------------
{
    try
    {
        int functionResult = DMR_NO_ERROR;
        Request* pRequest = fi.getRequest( requestNr );
        if( pRequest->imageMemoryMode.read() == rimmUser )
        {
            if( ( functionResult = pRequest->detachUserBuffer() ) != DMR_NO_ERROR )
            {
                cout << "An error occurred while detaching a buffer from request number " << requestNr << " : " << ImpactAcquireException::getErrorCodeAsString( functionResult ) << "." << endl;
            }
        }
        const void* const pAddr = pRequest->imageData.read();
        CaptureBufferContainer::iterator it = find_if( buffers.begin(), buffers.end(), [pAddr]( const shared_ptr<UserSuppliedHeapBuffer>& buffer )
        {
            return pAddr == buffer->getPtr();
        } );
        if( it != buffers.end() )
        {
            buffers.erase( it );
        }
    }
    catch( const ImpactAcquireException& e )
    {
        cout << "An error occurred while changing the mode of request number " << requestNr << ": " << e.getErrorCodeAsString() << "." << endl;
    }
}
 
//-----------------------------------------------------------------------------
void freeCaptureBuffers( FunctionInterface& fi, CaptureBufferContainer& buffers )
//-----------------------------------------------------------------------------
{
    const unsigned int requestCnt = fi.requestCount();
    for( unsigned int i = 0; i < requestCnt; i++ )
    {
        freeCaptureBuffer( fi, buffers, i );
    }
 
    if( !buffers.empty() )
    {
        cout << "Error! The buffer container should be empty now but still contains " << buffers.size() << " elements!" << endl;
    }
}
 
//-----------------------------------------------------------------------------
void liveLoop( CaptureParameter* pParameter )
//-----------------------------------------------------------------------------
{
    // Send all requests to the capture queue. There can be more than 1 queue for some devices, but for this sample
    // we will work with the default capture queue. If a device supports more than one capture or result
    // queue, this will be stated in the manual. If nothing is mentioned about it, the device supports one
    // queue only. This loop will send all requests currently available to the driver. To modify the number of requests
    // use the property mvIMPACT::acquire::SystemSettings::requestCount at runtime (note that some devices will
    // only allow to modify this parameter while NOT streaming data!) or the property
    // mvIMPACT::acquire::Device::defaultRequestCount BEFORE opening the device.
    TDMR_ERROR result = DMR_NO_ERROR;
    while( ( result = static_cast<TDMR_ERROR>( pParameter->fi.imageRequestSingle() ) ) == DMR_NO_ERROR ) {};
    if( result != DEV_NO_FREE_REQUEST_AVAILABLE )
    {
        cout << "'FunctionInterface.imageRequestSingle' returned with an unexpected result: " << result
             << "(" << ImpactAcquireException::getErrorCodeAsString( result ) << ")" << endl;
    }
 
    manuallyStartAcquisitionIfNeeded( pParameter->pDev, pParameter->fi );
    // run thread loop
    unsigned int cnt = {0};
    const unsigned int timeout_ms = {500};
    Request* pRequest = nullptr;
    // we always have to keep at least 2 images as the display module might want to repaint the image, thus we
    // cannot free it unless we have a assigned the display to a new buffer.
    Request* pPreviousRequest = nullptr;
    CaptureBufferContainer::iterator it;
    shared_ptr<UserSuppliedHeapBuffer> previousBuffer;
    while( !s_boTerminated )
    {
        // wait for results from the default capture queue
        const int requestNr = pParameter->fi.imageRequestWaitFor( timeout_ms );
        pRequest = pParameter->fi.isRequestNrValid( requestNr ) ? pParameter->fi.getRequest( requestNr ) : 0;
        if( pRequest != nullptr )
        {
            if( pRequest->isOK() )
            {
                ++cnt;
                // here we can display some statistical information every 100th image
                if( cnt % 100 == 0 )
                {
                    cout << "Info from " << pParameter->pDev->serial.read()
                         << ": " << pParameter->statistics.framesPerSecond.name() << ": " << pParameter->statistics.framesPerSecond.readS()
                         << ", " << pParameter->statistics.errorCount.name() << ": " << pParameter->statistics.errorCount.readS()
                         << ", " << pParameter->statistics.captureTime_s.name() << ": " << pParameter->statistics.captureTime_s.readS()
                         << ", CaptureDimension: " << pRequest->imageWidth.read() << "x" << pRequest->imageHeight.read() << "(" << pRequest->imagePixelFormat.readS() << ")" << endl;
                }
                void* const pAddr = pRequest->imageData.read();
                it = find_if( pParameter->buffers.begin(), pParameter->buffers.end(), [pAddr]( const shared_ptr<UserSuppliedHeapBuffer>& buffer )
                {
                    return pAddr == buffer->getPtr();
                } );
                pParameter->pTex->Draw( ( *it )->getBuffer() );
                pParameter->pDisplay->WindowUpdate();
            }
            else
            {
                cout << "Error: " << pRequest->requestResult.readS() << endl;
            }
            if( pPreviousRequest != nullptr )
            {
                // this image has been displayed thus the buffer is no longer needed...
                pPreviousRequest->unlock();
                int functionResult = DMR_NO_ERROR;
                if( ( functionResult = pPreviousRequest->detachUserBuffer() ) != DMR_NO_ERROR )
                {
                    cout << "Error: Could not detach the buffer from the previous request. Error: " << ImpactAcquireException::getErrorCodeAsString( functionResult ) << "(" << functionResult << ")" << endl;
                    glfwTerminate();
                    manuallyStopAcquisitionIfNeeded( pParameter->pDev, pParameter->fi );
                    return;
                }
                if( ( functionResult = pPreviousRequest->attachUserBuffer( previousBuffer->reallocate(), previousBuffer->getSize() ) ) != DMR_NO_ERROR )
                {
                    cout << "Error: Could not attach a new buffer to the previous request. Error: " << ImpactAcquireException::getErrorCodeAsString( functionResult ) << "(" << functionResult << ")" << endl;
                    glfwTerminate();
                    manuallyStopAcquisitionIfNeeded( pParameter->pDev, pParameter->fi );
                    return;
                }
            }
            previousBuffer = *it;
            pPreviousRequest = pRequest;
            // send a new image request into the capture queue
            pParameter->fi.imageRequestSingle();
        }
        if( glfwWindowShouldClose( pParameter->pDisplay->GetContextWindow() ) )
        {
            s_boTerminated = true;
        }
    }
 
    glfwTerminate();
    manuallyStopAcquisitionIfNeeded( pParameter->pDev, pParameter->fi );
    // In this sample all the next lines are redundant as the device driver will be
    // closed now, but in a real world application a thread like this might be started
    // several times an then it becomes crucial to clean up correctly.
 
    // free the last potentially locked request
    if( pRequest != nullptr )
    {
        pRequest->unlock();
    }
    // clear all queues
    pParameter->fi.imageRequestReset( 0, 0 );
 
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    DeviceManager devMgr;
    unsigned int mode = 4;
    Device* pDev = getDeviceFromUserInput( devMgr );
    if( pDev == nullptr )
    {
        cout << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    while( mode > 3 )
    {
        std::cout << "Select Mode:" << std::endl
                  << "[0] 32-bit RGB" << std::endl
                  << "[1] 24-bit RGB" << std::endl
                  << "[2] 8-bit Mono" << std::endl
                  << "[3] EXIT the application" << std::endl;
        std::cin >> mode;
        std::cin.get();
        if( mode == 3 )
        {
            return 0;
        }
    }
 
    cout << "Initialising the device. This might take some time..." << endl;
    try
    {
        pDev->open();
    }
    catch( const ImpactAcquireException& e )
    {
        // this e.g. might happen if the same device is already opened in another process...
        cout << "An error occurred while opening device " << pDev->serial.read()
             << "(error code: " << e.getErrorCodeAsString() << ")." << endl
             << "Press [ENTER] to end the application..." << endl;
        cin.get();
        return 1;
    }
 
    CaptureParameter captureParams( pDev );
    ImageDestination id( pDev );
    switch( mode )
    {
    case 0:
        id.pixelFormat.write( idpfRGBx888Packed );
        captureParams.initPixelFormat( ibpfRGBx888Packed );
        break;
    case 1:
        id.pixelFormat.write( idpfRGB888Packed );
        captureParams.initPixelFormat( ibpfRGB888Packed );
        break;
    case 2:
        id.pixelFormat.write( idpfMono8 );
        captureParams.initPixelFormat( ibpfMono8 );
        break;
    }
 
    GLuint width = 640;
    GLuint height = 480;
    if( pDev->interfaceLayout.read() == dilGenICam )
    {
        std::cout << "GenICam device detected" << std::endl;
        GenICam::ImageFormatControl ifc( pDev );
        if( ifc.width.isValid() && ifc.height.isValid() )
        {
            width = GLuint( ifc.width.read() );
            height = GLuint( ifc.height.read() );
        }
        else
        {
            cout << "ERROR: Cannot read width and height from device!" << endl;
            return 1;
        }
    }
    else
    {
        CameraSettingsBase csb( pDev );
        height = csb.aoiHeight.read();
        width = csb.aoiWidth.read();
    }
 
    std::cout << width << "x" << height << std::endl;
    captureParams.pDisplay = unique_ptr<OGLDisplayWindow>( new OGLDisplayWindow( GLuint( width ), GLuint( height ), std::string( "CaptureToOpenGLMemory" ) ) );
    if( !captureParams.pDisplay->WindowInit() )
    {
        std::cerr << "ERROR: OpenGL Window not initialized." << std::endl;
    }
    glfwSetWindowAspectRatio( captureParams.pDisplay->GetContextWindow(), int( width ), int( height ) );
    captureParams.pTex = new Texture( GLuint( width ), GLuint( height ), captureParams.bufferDataFormat, captureParams.outputImageFormat, GL_UNSIGNED_BYTE );
 
    //// find out the size of the resulting buffer by requesting a dummy request
    int bufferAlignment = { 0 };
    Request* pCurrentCaptureBufferLayout = nullptr;
    int result = captureParams.fi.getCurrentCaptureBufferLayout( captureParams.irc, &pCurrentCaptureBufferLayout, &bufferAlignment );
    if( result != 0 )
    {
        cout << "An error occurred while querying the current capture buffer layout for device " << captureParams.pDev->serial.read()
             << "(error code: " << ImpactAcquireException::getErrorCodeAsString( result ) << ")." << endl
             << "Press [ENTER] to end the application..." << endl;
        cin.get();
        return 1;
    }
    int bufferSize = pCurrentCaptureBufferLayout->imageSize.read() + pCurrentCaptureBufferLayout->imageFooterSize.read();
    int bufferPitch = pCurrentCaptureBufferLayout->imageLinePitch.read();
    cout << "Buffer Data: Size " << bufferSize << ", Pitch " << bufferPitch << endl;
    result = createCaptureBuffers( captureParams.fi, captureParams.buffers, bufferSize, bufferPitch );
    if( result != 0 )
    {
        cout << "An error occurred while setting up the user supplied buffers for device " << captureParams.pDev->serial.read()
             << "(error code: " << ImpactAcquireException::getErrorCodeAsString( result ) << ")." << endl
             << "Press [ENTER] to end the application..." << endl;
        cin.get();
        return 1;
    }
 
    cout << "**************************************************************************************" << endl
         << "  Acquisition started. Close the display window to end the application." << endl
         << "**************************************************************************************" << endl << endl;
    liveLoop( &captureParams );
    pDev->close();
 
    return 0;
}