ContinuousCapture_BVS-3D-RV1.cpp

The ContinuousCapture_BVS-3D-RV1 program is based on the ContinuousCapture.cpp example concerning the acquisition implementation. The sample is intended for BVS 3D-RV1 devices only as it makes use of device specific settings which won't be supported by the majority of other devices. The sample will set up a device in a way that Multi-Part Format data will be delivered and will display intensitiy image buffer and disparity image buffer parts in two different display windows.

Since

3.4.0

Program location

The source file ContinuousCapture_BVS-3D-RV1.cpp is only part of this document so far, so in order to play around with it must be copied from here!

Note

The following device families are currently supported by this sample:

• BVS 3D-RV1

ContinuousCapture_BVS-3D-RV1 example:

1. Checks if bvs_sgm_producer is available on the system.
2. Opens a BVS 3D-RV1 device.
3. Asks to decrease bandwidth (2.5 Gbit/s default setting)
4. Configures the device in a way it will deliver multi-part data OR will terminate with an error message if the configuration fails.
5. Captures buffers continuously in continuous software trigger mode and will display(Windows) or output information (on other platforms) for the both parts of the delivered buffer.
6. Processes the image information to real-world point cloud information.

How it works

1. First the program checks in function isSGMProducerAvailable() if the required bvs_sgm_producer.cti file is available. If not, the program aborts and outputs an error message.
2. After getting the device from user input the sample opens the device (pDev->open()).
3. Then the sample will try to set up the device accordingly by calling the configureDevice() function.
4. The bandwidth can be decreased to work on an usual single GigE connection (setBandwidth()).
5. Image acquisition will make use of the mvIMPACT::acquire::helper::RequestProvider class discussed in the ContinuousCapture.cpp example application. Therefore the image will be continuously software triggered. If necessary, the device will disable the pattern projector once the acquisition is stopped.
6. After a successful image acquisition, the function disparityToPointCloud() processes every pixel value to 3D voxel values (if enabled before).

Note

To end the image acquisition loop ENTER must be pressed.

Used device settings:

• The delivered MultiPart data is configured to an intensity and a disparity map.
• To make sure intensity image and disparity map are combined to a single MultiPart buffer, the property mvIMPACT::acquire::GenICam::AcquisitionControl::acquisitionMultiPartMode, is configured to "SynchronizedComponents". Otherwise each image would be delivered in a single buffer.
• For a triggered image acquisition the mvIMPACT::acquire::GenICam::DepthControl::depthAcquisitionMode is set to "SingleFrameOut1". This will enable the internal pattern projector (if device is equipped with projector).
• The device offers a possibility to have a high quality depth image, the value of mvIMPACT::acquire::GenICam::DepthControl::depthQuality is set to "Medium", which results in an image which has a smaller resolution than the intensity image.
• The device is capable of a method to make the setup more robust against the influence of environmental light. Once enabled, the system will take several images before the disparity image is created. The timeout for allowing multiple images can be set by using the mvIMPACT::acquire::GenICam::DepthControl::depthExposureAdaptTimeout property.

//-----------------------------------------------------------------------------
bool configureDevice( Device* pDev )
//-----------------------------------------------------------------------------
{
    ImageFormatControl ifc( pDev );
    if( ifc.componentSelector.isValid() && ifc.componentSelector.isWriteable() )
    {
        if( !supportsEnumStringValue( ifc.componentSelector, "Intensity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Intensity" );
        ifc.componentEnable.write( TBoolean::bTrue );
 
        if( !supportsEnumStringValue( ifc.componentSelector, "Disparity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Disparity" );
        ifc.componentEnable.write( TBoolean::bTrue );
    }
    else
    {
        return false;
    }
 
    AcquisitionControl acq( pDev );
    if( !acq.exposureAuto.isValid() ||
        !acq.exposureAuto.isWriteable() ||
        !acq.acquisitionMultiPartMode.isValid() ||
        !acq.acquisitionMultiPartMode.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( acq.exposureAuto, "Continuous" ) ||
        !supportsEnumStringValue( acq.acquisitionMultiPartMode, "SynchronizedComponents" ) )
    {
        return false;
    }
    acq.exposureAuto.writeS( "Continuous" );
    acq.acquisitionMultiPartMode.writeS( "SynchronizedComponents" );
 
    ChunkDataControl cdc( pDev );
    if( !cdc.chunkModeActive.isValid() || !cdc.chunkModeActive.isWriteable() )
    {
        return false;
    }
    cdc.chunkModeActive.write( TBoolean::bTrue );
 
    DepthControl dctl( pDev );
    if( !dctl.depthAcquisitionMode.isValid() ||
        !dctl.depthAcquisitionMode.isWriteable() ||
        !dctl.depthExposureAdaptTimeout.isValid() ||
        !dctl.depthExposureAdaptTimeout.isWriteable() ||
        !dctl.depthQuality.isValid() ||
        !dctl.depthQuality.isWriteable() ||
        !dctl.depthMinDepth.isValid() ||
        !dctl.depthMinDepth.isWriteable() ||
        !dctl.depthMaxDepth.isValid() ||
        !dctl.depthMaxDepth.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( dctl.depthAcquisitionMode, "SingleFrameOut1" ) ||
        !supportsEnumStringValue( dctl.depthQuality, "Medium" ) ||
        !supportsValue( dctl.depthExposureAdaptTimeout, 0.0 ) ||
        !supportsValue( dctl.depthMinDepth, 1.0 ) ||
        !supportsValue( dctl.depthMaxDepth, 3.0 ) )
    {
        return false;
    }
    dctl.depthAcquisitionMode.writeS( "SingleFrameOut1" );
    dctl.depthQuality.writeS( "Medium" );
    dctl.depthExposureAdaptTimeout.write( 0.0 );
    dctl.depthMinDepth.write( 1.0 );
    dctl.depthMaxDepth.write( 3.0 );
    return true;
}

Handling multi part data

Once the request object is ready, the number of included multi part buffers can be obtained by calling mvIMPACT::acquire::Request::getBufferPartCount(). A specific buffer part can be used by calling mvIMPACT::acquire::Request::getBufferPart() and passing the number of the desired part to create a BufferPart object. Afterwards mvIMPACT::acquire::BufferPart::getImageBufferDesc() can be used for mvIMPACT::acquire::Request objects.

//-----------------------------------------------------------------------------
void myThreadCallback( shared_ptr<Request> pRequest, ThreadParameter& threadParameter )
//-----------------------------------------------------------------------------
{
    // trigger will be called after a new image has been acquired
    threadParameter.dctl_.depthAcquisitionTrigger.call();
    // display some statistical information every 100th image
    if( threadParameter.requestsCaptured_ % 100 == 0 )
    {
        const Statistics& s = threadParameter.statistics_;
        cout << "Info from " << threadParameter.pDev_->serial.read()
             << ": " << s.framesPerSecond.name() << ": " << s.framesPerSecond.readS()
             << ", " << s.errorCount.name() << ": " << s.errorCount.readS()
             << ", " << s.captureTime_s.name() << ": " << s.captureTime_s.readS() << endl;
    }
    if( pRequest->isOK() )
    {
        const unsigned int bufferPartCount = pRequest->getBufferPartCount();
        if( bufferPartCount > 0 )
        {
            // data has been delivered in multi-part format
            for( unsigned int i = 0; i < bufferPartCount; i++ )
            {
                const BufferPart& bufferPart( pRequest->getBufferPart( i ) );
#ifdef USE_DISPLAY
                const TBufferPartDataType bufferDataType = bufferPart.dataType.read();
                cout << "Image captured: " << bufferPart.width.read() << "x" << bufferPart.height.read() << " buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
                if( bufferDataType == bpdt2DImage )
                {
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetDisplayMode( TDisplayMode::DM_Default );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetImage( bufferPart.getImageBufferDesc().getBuffer() );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().Update();
                }
                else if( bufferDataType == bpdt3DImage )
                {
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetDisplayMode( TDisplayMode::DM_Default );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetImage( bufferPart.getImageBufferDesc().getBuffer() );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().Update();
                    if( threadParameter.pointCloutCalculationAllowed )
                    {
                        disparityToPointCloud( pRequest, threadParameter.pDev_ );
                    }
                }
                else
                {
                    cout << "The data type of buffer part " << i << " of the current request is reported as " << bufferPart.dataType.readS() << ", which will NOT be handled by this example application" << endl;
                }
#else
                cout << "Image captured: " << bufferPart.width.read() << "x" << bufferPart.height.read() << "buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
#endif // #ifdef USE_DISPLAY
            }
        }
    }
    else
    {
        cout << "Error: " << pRequest->requestResult.readS() << endl;
    }
}

Source code

#include <apps/Common/exampleHelper.h>
#include <common/crt/mvstdlib.h>
#include <fstream>
#include <string>
#include <iostream>
#include <mvIMPACT_CPP/mvIMPACT_acquire_helper.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire_GenICam.h>
#ifdef _WIN32
#   include <mvDisplay/Include/mvIMPACT_acquire_display.h>
using namespace mvIMPACT::acquire::display;
#   define USE_DISPLAY
#endif // #ifdef _WIN32
 
using namespace mvIMPACT::acquire;
using namespace mvIMPACT::acquire::GenICam;
using namespace std;
 
//-----------------------------------------------------------------------------
// The function checks whether the file in the given path is available on
// the host system.
bool checkFileExists( const string& fullPath )
//-----------------------------------------------------------------------------
{
    ifstream file( fullPath.c_str() );
    return file.good();
}
 
//-----------------------------------------------------------------------------
/// \brief Gets an environment variable
///
/// \return
/// - a positive value if the variable exists
/// - 0 if the variable does \b NOT exist
inline int getenv(
    /// The environment variable wanted
    const string& name,
    /// Pointer to the string that will contain the value of the environment variable when the
    /// variable exists. This can be NULL if the user just wants to know if the variable is there
    string* pVal = 0 )
//-----------------------------------------------------------------------------
{
    size_t bufSize = 0;
    int result = mv_getenv_s( &bufSize, 0, 0, name.c_str() );
    if( result == 0 )
    {
        if( bufSize > 0 )
        {
            auto_array_ptr<char> buf( bufSize );
            result = mv_getenv_s( &bufSize, buf.get(), buf.parCnt(), name.c_str() );
            if( ( result == 0 ) && pVal )
            {
                *pVal = string( buf.get() );
            }
            return 1;
        }
    }
    return 0;
}
 
//-----------------------------------------------------------------------------
// This function checks if the BVS SGM producer environment variable has been
// set and if the required Producer is available on Windows OS.
// Basically this function is redundant to isSupportedBySample() function, but
// without isSGMProducerAvailable() function the program would stop without
// any hint of the root cause: bvs_sgm_producer.cti file is required to find
// the BVS 3D-RV1 camera.
bool isSGMProducerAvailable( void )
//-----------------------------------------------------------------------------
{
    static const string s_pathVariable( ( sizeof( void* ) == 8 ) ? "GENICAM_GENTL64_PATH" : "GENICAM_GENTL32_PATH" );
#if defined(linux) || defined(__linux) || defined(__linux__) || defined(__APPLE__)
    const static string PATH_SEPARATOR( ":" );
#elif defined(_WIN32) || defined(WIN32) || defined(__WIN32__)
    const static string PATH_SEPARATOR( ";" );
#else
#   error Unsupported target platform
#endif
    string pathValue;
    if( getenv( s_pathVariable, &pathValue ) > 0 )
    {
        cout << "Checking for SGM Producer presence. This might take some time..." << endl;
        const static string s_libName = "bvs_sgm_producer.cti";
        if( !pathValue.empty() )
        {
            string::size_type posStart = 0;
            string::size_type posEnd = 0;
            while( ( posStart = pathValue.find( PATH_SEPARATOR, posStart ) ) != string::npos )
            {
                const string filePath = pathValue.substr( posEnd, posStart - posEnd );
                if( checkFileExists( filePath + "/" + s_libName ) )
                {
                    return true;
                }
                posEnd = posStart + PATH_SEPARATOR.length();
                posStart += 1;
            }
            if( checkFileExists( pathValue.substr( posEnd ) + "/" + s_libName ) )
            {
                return true;
            }
            cout << "Error: " << s_libName << " not found" << endl;
        }
        else
        {
            cout << "Unable to continue! No " << s_pathVariable << " environment variable is empty. Please follow manual or ask " << COMPANY_NAME << " technical support for advice";
        }
    }
    else
    {
        cout << "Unable to continue! No " << s_pathVariable << " environment variable found. Please follow manual or ask " << COMPANY_NAME << " technical support for advice";
    }
    return false;
}
 
//-----------------------------------------------------------------------------
bool isPointCloudCalculationAllowed( void )
//-----------------------------------------------------------------------------
{
    cout << "Do you want to calculate the point cloud for each received image (please note, this will consume quite some CPU resources)? (Y/N): ";
    char pointCloudSelection;
    cin >> pointCloudSelection;
    cin.get();
    return tolower( pointCloudSelection ) == 'y';
}
 
//-----------------------------------------------------------------------------
// The processed point cloud data will be stored in a map and can be used
// e.g. to create an .ply file which can display real 3D data on a monitor.
void disparityToPointCloud( shared_ptr<Request> pRequest, Device* pDev )
//-----------------------------------------------------------------------------
{
    Scan3dControl s3dc( pDev );
    const double scan3DPrincipalPointU = s3dc.scan3dPrincipalPointU.read();
    const double scan3DPrincipalPointV = s3dc.scan3dPrincipalPointV.read();
    const double baseline = s3dc.scan3dBaseline.read();
    const double scan3dCoordScale = s3dc.scan3dCoordinateScale.read();
    const double scan3DFocalLength = s3dc.scan3dFocalLength.read();
    map<double, pair<double, double>>pointCloudData;
    for( int y = 0; y < pRequest->imageHeight.read(); y++ )
    {
        unsigned short* p = reinterpret_cast< unsigned short* >( ( char* )pRequest->imageData.read() + y * pRequest->imageLinePitch.read() );
        for( int x = 0; x < pRequest->imageWidth.read(); x++ )
        {
            const double dik = *p++ * scan3dCoordScale;
            const double px = ( x + 0.5 - scan3DPrincipalPointU ) * ( baseline / dik );
            const double py = ( y + 0.5 - scan3DPrincipalPointV ) * ( baseline / dik );
            const double pz = ( scan3DFocalLength * ( baseline / dik ) );
            pointCloudData.emplace( pz, make_pair( px, py ) );
        }
    }
}
 
//-----------------------------------------------------------------------------
// This function allows to use e.g. a single GigE switch by reducing the
// overall speed of the cameras even if a 2.5 GigE switch and network port is
// recommended.
int setBandwidth( Device* pDev )
//-----------------------------------------------------------------------------
{
    cout << "Do you want to limit your network bandwidth (required if you use a single GigE connection instead of 2.5 GigE)? (Y/N): ";
    char selection;
    cin >> selection;
    if( tolower( selection ) == 'y' )
    {
        DeviceControl dc( pDev );
        dc.deviceLinkThroughputLimitMode.write( TBoolean::bTrue );
        dc.deviceLinkThroughputLimit.write( 90000000 );
    }
    cin.get();
    return 0;
}
 
//-----------------------------------------------------------------------------
struct ThreadParameter
//-----------------------------------------------------------------------------
{
    Device* pDev_;
    unsigned int requestsCaptured_;
    Statistics statistics_;
    DepthControl dctl_;
    const bool pointCloutCalculationAllowed;
#ifdef USE_DISPLAY
    ImageDisplayWindow displayWindowPrimary_;
    ImageDisplayWindow displayWindowSecondary_;
#endif // #ifdef USE_DISPLAY
    explicit ThreadParameter( Device* pDev ) : pDev_( pDev ), requestsCaptured_( 0 ), statistics_( pDev ), dctl_( pDev ), pointCloutCalculationAllowed { isPointCloudCalculationAllowed() }
#ifdef USE_DISPLAY
        // initialise display window
        // IMPORTANT: It's NOT safe to create multiple display windows in multiple threads!!!
        , displayWindowPrimary_( "mvIMPACT_acquire sample, Device " + pDev_->serial.read() + " 2D Image" )
        , displayWindowSecondary_( "mvIMPACT_acquire sample, Device " + pDev_->serial.read() + " Disparity Image" )
#endif // #ifdef USE_DISPLAY
    {}
    ThreadParameter( const ThreadParameter& src ) = delete;
    ThreadParameter& operator=( const ThreadParameter& rhs ) = delete;
};
 
//-----------------------------------------------------------------------------
void myThreadCallback( shared_ptr<Request> pRequest, ThreadParameter& threadParameter )
//-----------------------------------------------------------------------------
{
    // trigger will be called after a new image has been acquired
    threadParameter.dctl_.depthAcquisitionTrigger.call();
    // display some statistical information every 100th image
    if( threadParameter.requestsCaptured_ % 100 == 0 )
    {
        const Statistics& s = threadParameter.statistics_;
        cout << "Info from " << threadParameter.pDev_->serial.read()
             << ": " << s.framesPerSecond.name() << ": " << s.framesPerSecond.readS()
             << ", " << s.errorCount.name() << ": " << s.errorCount.readS()
             << ", " << s.captureTime_s.name() << ": " << s.captureTime_s.readS() << endl;
    }
    if( pRequest->isOK() )
    {
        const unsigned int bufferPartCount = pRequest->getBufferPartCount();
        if( bufferPartCount > 0 )
        {
            // data has been delivered in multi-part format
            for( unsigned int i = 0; i < bufferPartCount; i++ )
            {
                const BufferPart& bufferPart( pRequest->getBufferPart( i ) );
#ifdef USE_DISPLAY
                const TBufferPartDataType bufferDataType = bufferPart.dataType.read();
                cout << "Image captured: " << bufferPart.width.read() << "x" << bufferPart.height.read() << " buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
                if( bufferDataType == bpdt2DImage )
                {
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetDisplayMode( TDisplayMode::DM_Default );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().SetImage( bufferPart.getImageBufferDesc().getBuffer() );
                    threadParameter.displayWindowPrimary_.GetImageDisplay().Update();
                }
                else if( bufferDataType == bpdt3DImage )
                {
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetDisplayMode( TDisplayMode::DM_Default );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().SetImage( bufferPart.getImageBufferDesc().getBuffer() );
                    threadParameter.displayWindowSecondary_.GetImageDisplay().Update();
                    if( threadParameter.pointCloutCalculationAllowed )
                    {
                        disparityToPointCloud( pRequest, threadParameter.pDev_ );
                    }
                }
                else
                {
                    cout << "The data type of buffer part " << i << " of the current request is reported as " << bufferPart.dataType.readS() << ", which will NOT be handled by this example application" << endl;
                }
#else
                cout << "Image captured: " << bufferPart.width.read() << "x" << bufferPart.height.read() << "buffer contains: " << bufferPart.dataType.readS() << " data" << endl;
#endif // #ifdef USE_DISPLAY
            }
        }
    }
    else
    {
        cout << "Error: " << pRequest->requestResult.readS() << endl;
    }
}
 
//-----------------------------------------------------------------------------
// This function will allow to select devices that support the GenICam interface
// layout(these are devices, that claim to be compliant with the GenICam standard)
// and that are bound to drivers that support the user controlled start and stop
// of the internal acquisition engine. Other devices will not be listed for
// selection as the code of the example relies on these features in the code.
bool isDeviceSupportedBySample( const Device* const pDev )
//-----------------------------------------------------------------------------
{
    const string product = pDev->product.readS();
    return( product.find( "BVS 3D-RV1" ) != string::npos );
}
 
//-----------------------------------------------------------------------------
bool configureDevice( Device* pDev )
//-----------------------------------------------------------------------------
{
    ImageFormatControl ifc( pDev );
    if( ifc.componentSelector.isValid() && ifc.componentSelector.isWriteable() )
    {
        if( !supportsEnumStringValue( ifc.componentSelector, "Intensity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Intensity" );
        ifc.componentEnable.write( TBoolean::bTrue );
 
        if( !supportsEnumStringValue( ifc.componentSelector, "Disparity" ) )
        {
            return false;
        }
        ifc.componentSelector.writeS( "Disparity" );
        ifc.componentEnable.write( TBoolean::bTrue );
    }
    else
    {
        return false;
    }
 
    AcquisitionControl acq( pDev );
    if( !acq.exposureAuto.isValid() ||
        !acq.exposureAuto.isWriteable() ||
        !acq.acquisitionMultiPartMode.isValid() ||
        !acq.acquisitionMultiPartMode.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( acq.exposureAuto, "Continuous" ) ||
        !supportsEnumStringValue( acq.acquisitionMultiPartMode, "SynchronizedComponents" ) )
    {
        return false;
    }
    acq.exposureAuto.writeS( "Continuous" );
    acq.acquisitionMultiPartMode.writeS( "SynchronizedComponents" );
 
    ChunkDataControl cdc( pDev );
    if( !cdc.chunkModeActive.isValid() || !cdc.chunkModeActive.isWriteable() )
    {
        return false;
    }
    cdc.chunkModeActive.write( TBoolean::bTrue );
 
    DepthControl dctl( pDev );
    if( !dctl.depthAcquisitionMode.isValid() ||
        !dctl.depthAcquisitionMode.isWriteable() ||
        !dctl.depthExposureAdaptTimeout.isValid() ||
        !dctl.depthExposureAdaptTimeout.isWriteable() ||
        !dctl.depthQuality.isValid() ||
        !dctl.depthQuality.isWriteable() ||
        !dctl.depthMinDepth.isValid() ||
        !dctl.depthMinDepth.isWriteable() ||
        !dctl.depthMaxDepth.isValid() ||
        !dctl.depthMaxDepth.isWriteable() )
    {
        return false;
    }
    if( !supportsEnumStringValue( dctl.depthAcquisitionMode, "SingleFrameOut1" ) ||
        !supportsEnumStringValue( dctl.depthQuality, "Medium" ) ||
        !supportsValue( dctl.depthExposureAdaptTimeout, 0.0 ) ||
        !supportsValue( dctl.depthMinDepth, 1.0 ) ||
        !supportsValue( dctl.depthMaxDepth, 3.0 ) )
    {
        return false;
    }
    dctl.depthAcquisitionMode.writeS( "SingleFrameOut1" );
    dctl.depthQuality.writeS( "Medium" );
    dctl.depthExposureAdaptTimeout.write( 0.0 );
    dctl.depthMinDepth.write( 1.0 );
    dctl.depthMaxDepth.write( 3.0 );
    return true;
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    if( !isSGMProducerAvailable() )
    {
        cout << "Couldn't locate bvs_sgm_producer.cti file on your system. Please follow manual or ask " << COMPANY_NAME << " technical support for advice" << endl;
        return 1;
    }
 
    DeviceManager devMgr;
    Device* pDev = getDeviceFromUserInput( devMgr, isDeviceSupportedBySample );
    if( pDev == nullptr )
    {
        cout << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    // if this device offers the 'GenICam' interface switch it on, as this will
    // allow are better control over GenICam compliant devices
    conditionalSetProperty( pDev->interfaceLayout, dilGenICam, true );
    // if this device offers a user defined acquisition start/stop behavior
    // enable it as this allows finer control about the streaming behavior
    conditionalSetProperty( pDev->acquisitionStartStopBehaviour, assbUser, true );
 
    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 the device(error code: " << e.getErrorCode() << ")." << endl
             << "Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
    cout << "Initialising the device. This might take some time..." << endl;
    if( !configureDevice( pDev ) )
    {
        cout << "Unable to continue! The selected device does not support some of the required features. Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
    setBandwidth( pDev );
    ThreadParameter threadParam( pDev );
    cout << "Press [ENTER] to stop the acquisition thread" << endl;
    threadParam.dctl_.depthAcquisitionTrigger.call();
    helper::RequestProvider requestProvider( pDev );
    requestProvider.acquisitionStart( myThreadCallback, ref( threadParam ) );
    cin.get();
    requestProvider.acquisitionStop();
    return 0;
}