Baumer（堡盟）相机，用SDK读取指定量的图像（opencv2.4.9+vs2010）

安装完驱动和相关文件后，相机有自带的SDK和编程手册。（一般是有一张光盘）

先说一下大致流程：

    系统流程：
    ①系统列表：是否安装了对应的系统入口（Gige或USB）
        打开一个系统
    ②获取系统中的接口列表（I/O接口：Gige接口或者USB接口）
        打开接口
    ③获取连接在接口上的设备列表
        打开设备->需要打开相机的软触发模式
    ④获取从相机传入的数据流列表
        打开数据流入口
    ⑤创建缓冲列表并分配缓冲内存
    ⑥为数据流分配接收的图像内存
    ⑦开启相机获取数据流并填充图像缓冲
    ⑧结束后释放资源

上代码：

/************************************************************************/
/* 
	系统流程：
	①系统列表：是否安装了对应的系统入口（Gige或USB）
		打开一个系统
	②获取系统中的接口列表（I/O接口：Gige接口或者USB接口）
		打开接口
	③获取连接在接口上的设备列表
		打开设备->需要打开相机的软触发模式
	④获取从相机传入的数据流列表
		打开数据流入口
	⑤创建缓冲列表并分配缓冲内存
	⑥为数据流分配接收的图像内存
	⑦开启相机获取数据流并填充图像缓冲
	⑧结束后释放资源
*/
/************************************************************************/

/*准备工作*/
#include 
#include "opencv2/opencv.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include 
#include 
#include 
#include "bgapi2_genicam/bgapi2_genicam.hpp"

using namespace BGAPI2;
using namespace std;
using namespace cv;

int main()
{
	/************************************************************************
								设置相机参数
	************************************************************************/

	/*系统列表和系统参数*/
	SystemList* systemList = NULL;// 系统列表。有gige接口和usb接口两种系统。本机为gige系统。
	System* pSystem = NULL;// 指向当前系统的指针
	BGAPI2::String sSystemID;// 当前系统的ID号，字符串。

	/*接口列表和接口参数*/
	InterfaceList* interfaceList = NULL;// 接口列表，共一个接口：一个网口接口
	Interface* pInterface = NULL;// 指向当前接口的指针
	BGAPI2::String sInterfaceID;// 当前接口的ID号，字符串。

	/*设备列表和设备参数*/
	DeviceList* deviceList = NULL;// 设备列表，本机共一个设备（共一个接口）
	Device* pDevice = NULL;// 指向当前设备的指针
	BGAPI2::String sDeviceID;// 当前设备的ID号，字符串。

	/*数据流列表和数据流参数*/
	DataStreamList* datastreamList = NULL;// 数据流列表，共一个数据流
	DataStream* pDataStream = NULL;// 指向当前数据流的指针
	BGAPI2::String sDataStreamID;// 当前数据流的ID号，字符串。

	/*缓冲列表和缓冲参数*/
	BufferList* bufferList = NULL;// 缓冲列表，缓冲列表大小可设置
	Buffer* pBuffer = NULL;// 指向当前缓冲的指针

	/*图像处理参数*/
	ImageProcessor * imgProcessor = NULL;

	int returncode = 0;// 返回值
	// 图像处理模块
	try
	{
		imgProcessor = new ImageProcessor();
		cout << "图像处理模块版本:    " << imgProcessor->GetVersion() << endl;
		if(imgProcessor->GetNodeList()->GetNodePresent("DemosaicingMethod") == true)
		{
			imgProcessor->GetNodeList()->GetNode("DemosaicingMethod")->SetString("NearestNeighbor"); // NearestNeighbor, Bilinear3x3, Baumer5x5
			cout << "    差值方法：    " << imgProcessor->GetNodeList()->GetNode("DemosaicingMethod")->GetString() << endl;
		}
		cout << endl;
	}
	catch(Exceptions::IException& ex)
	{
		cout << "异常类型：" << ex.GetType() << endl;
		cout << "错误描述：" << ex.GetErrorDescription() << endl;
		cout << "发生异常的功能：" << ex.GetFunctionName() << endl;
	}

	cout << "系统列表" << endl;
	cout << "########" << endl << endl;

	try// 获取系统列表，系统列表里包含了所有系统的信息
	{
		systemList = SystemList::GetInstance();// 实例化系统列表
		systemList->Refresh();// 更新系统列表
		cout<< "本机检测到的系统数：" << systemList->size() <begin(); sysIterator != systemList->end(); sysIterator++)// 在系统列表顶部传递迭代器
		{	
			cout << "系统描述" << endl;
			cout << "========" << endl;
			cout << "系统名称:" << sysIterator->second->GetFileName() << endl;// 传递文件名
			cout << "系统类型:" << sysIterator->second->GetTLType() << endl;// 类型
			cout << "系统版本:" << sysIterator->second->GetVersion() << endl;// 版本
			cout << "系统路径:" << sysIterator->second->GetPathName() << endl << endl;// 路径名
		}// for循环结束
	}
	catch(Exceptions::IException& ex)
	{
		cout << "异常类型：" << ex.GetType() << endl;
		cout << "错误描述：" << ex.GetErrorDescription() << endl;
		cout << "发生异常的功能：" << ex.GetFunctionName() << endl;
	}// 当前try-catch结束

	// 在系统列表中搜索各个系统
	try
	{
		for (SystemList::iterator sysIterator = systemList->begin();sysIterator != systemList->end();sysIterator++)// 所有的系统存放在一个迭代器中，搜索这个迭代器
		{
			cout << "对系统操作：" << endl;
			cout << "**********" << endl << endl;
			try
			{
				sysIterator->second->Open();// 包括所有的主要参数在内，都是以一对的形式存放（first，second），可理解为键值对，first为string键，second为指针类型的值
											// Open函数打开系统对象并使其功能可用。即以下的功能。
											// 指向当前系统的指针
				cout << "打开当前系统" << endl;
				cout << "------------" << endl << endl;
				cout << "	 系统名称:" << sysIterator->second->GetFileName() << endl;
				cout << "    系统类型:" << sysIterator->second->GetTLType() << endl;
				cout << "    系统版本:" << sysIterator->second->GetVersion() << endl;
				cout << "    系统路径:" << sysIterator->second->GetPathName() << endl << endl;
				sSystemID = sysIterator->first;// 获取系统的ID
				cout << "已打开的系统----节点列表信息 " << endl;
				cout << "GenTL版本:" << sysIterator->second->GetNode("GenTLVersionMajor")->GetValue() << "." << sysIterator->second->GetNode("GenTLVersionMinor")->GetValue() << endl << endl;
				// （位于当前打开的系统中）在接口列表里搜索接口
				cout << "接口列表" << endl;
				cout << "########" << endl << endl;
				try
				{
					interfaceList = sysIterator->second->GetInterfaces();// 通过当前系统的指针获取当前系统的接口列表
					interfaceList->Refresh(100);// 更新接口列表每100毫秒
					cout << "检测到的接口个数: " << interfaceList->size() << endl;
					// 接口信息
					for (InterfaceList::iterator ifIterator = interfaceList->begin();ifIterator != interfaceList->end();ifIterator++)
					{
						cout << "接口描述" << endl;
						cout << "========" << endl;
						cout << "接口 ID:" << ifIterator->first << endl;
						cout << "接口类型:" << ifIterator->second->GetTLType() << endl;
						cout << "接口名称:" << ifIterator->second->GetDisplayName() << endl << endl;
					}// for循环结束
				}
				catch (Exceptions::IException& ex)
				{
					returncode = 0 == returncode ? 1 : returncode;
					cout << "异常类型:" << ex.GetType() << endl;
					cout << "错误描述:" << ex.GetErrorDescription() << endl;
					cout << "发生异常的功能:" << ex.GetFunctionName() << endl;
				}// try-catch结束 系统功能结束。

				cout << "对接口操作" << endl;
				cout << "**********" << endl << endl;
				// 打开列表中的接口
				try
				{
					for (InterfaceList::iterator ifIterator = interfaceList->begin(); ifIterator != interfaceList->end(); ifIterator++)
					{
						try
						{
							cout << "打开当前接口" << endl;
							cout << "------------" << endl;
							cout << "接口 ID:" << ifIterator->first << endl;
							cout << "接口类型:" << ifIterator->second->GetTLType() << endl;
							cout << "接口名称:" << ifIterator->second->GetDisplayName() << endl;
							ifIterator->second->Open();
							// 搜索所有连接到此接口的设备
							deviceList = ifIterator->second->GetDevices();// 获取设备
							deviceList->Refresh(100);
							if(deviceList->size() == 0)// 没有搜索到设备
							{
								cout << "关闭接口 (发现" << deviceList->size() << " 个相机) " << endl << endl;
								ifIterator->second->Close();// 此函数关闭接口对象并释放使用的资源。
							}
							else
							{
								sInterfaceID = ifIterator->first;// 获取接口名称
								cout << "打开的接口 - 节点列表信息 " << std::endl;
								if( ifIterator->second->GetTLType() == "GEV" )// 如果接口通过网口连接
								{
									// 接口子网IP地址
									cout << "接口子网IP地址:" << ifIterator->second->GetNode("GevInterfaceSubnetIPAddress")->GetValue() << endl;
									// 接口子网掩码
									cout << "接口子网掩码:" << ifIterator->second->GetNode("GevInterfaceSubnetMask")->GetValue() << endl;
								}
								cout << "  " << endl;
								break;
							}
						}
						catch (Exceptions::ResourceInUseException& ex)
						{
							returncode = 0 == returncode ? 1 : returncode;
							cout << " 接口 " << ifIterator->first << " 已经被打开 " << endl;
							cout << " 资源占用异常：" << ex.GetErrorDescription() << endl;
						}// try-catch 结束，接口功能结束
					}// for循环结束
				}
				catch (Exceptions::IException& ex)
				{
					returncode = 0 == returncode ? 1 : returncode;
					cout << "异常类型:    " << ex.GetType() << endl;
					cout << "异常描述: " << ex.GetErrorDescription() << endl;
					cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
				}
				if(sInterfaceID != "") // 如果接口存在
				{
					break;
				}
			}
			catch (Exceptions::ResourceInUseException& ex)
			{
				returncode = 0 == returncode ? 1 : returncode;
				cout << " 系统 " << sysIterator->first << " 已经被打开 " << endl;
				cout << " 资源占用异常: " << ex.GetErrorDescription() << endl;
			}
		}
	}
	catch (Exceptions::IException& ex)
	{
		returncode = 0 == returncode ? 1 : returncode;
		cout << "异常类型:" << ex.GetType() << endl;
		cout << "异常描述:" << ex.GetErrorDescription() << endl;
		cout << "发生异常的功能:" << ex.GetFunctionName() << endl;
	}

	// 检查系统是否存在。
	if ( sSystemID == "" )// 系统列表为空
	{
		cout << " 没有发现可用系统 " << endl;
		cout << endl << "结束！" << endl << "按任意键来结束程序:";
		int endKey = 0;
		cin >> endKey;// 输入任意的按键值
		SystemList::ReleaseInstance();// 释放实例资源
		return returncode;// 返回0，退出函数
	}
	else
	{
		pSystem = (*systemList)[sSystemID];// 获取系统名称
	}
	// 检查接口是否存在。
	if (sInterfaceID == "")// 接口不存在
	{
		cout << " 没有发现可用的相机 " << sInterfaceID << endl;
		cout << endl << "结束！" << endl << "按任意键来结束程序:";
		int endKey = 0;
		cin >> endKey;
		pSystem->Close();
		SystemList::ReleaseInstance();
		return returncode;
	}
	else
	{
		pInterface = (*interfaceList)[sInterfaceID];// 获取接口名称
	}

	// 获取设备列表以及设备
	cout << "设备列表" << endl;
	cout << "########" << endl << endl;

	//
	try
	{
		// 对可获取的相机计数
		deviceList = pInterface->GetDevices();
		deviceList->Refresh(100);
		cout << "检测到的设备个数:         " << deviceList->size() << endl;

		//DEVICE INFORMATION BEFORE OPENING
		for (DeviceList::iterator devIterator = deviceList->begin(); devIterator != deviceList->end(); devIterator++)
		{
			cout << "          设备的ID:               " << devIterator->first << endl;
			cout << "          设备模型:               " << devIterator->second->GetModel() << endl;
			cout << "          设备序列号:             " << devIterator->second->GetSerialNumber() << endl;
			cout << "          设备制造商:             " << devIterator->second->GetVendor() << endl;
			cout << "          Device TLType:          " << devIterator->second->GetTLType() << endl;
			cout << "          设备的接口状态:         " << devIterator->second->GetAccessStatus() << endl;
			cout << "          设备的用户ID:           " << devIterator->second->GetDisplayName() << endl << endl;
		}
	}
	catch (Exceptions::IException& ex)
	{
		returncode = 0 == returncode ? 1 : returncode;
		cout << "异常类型:" << ex.GetType() << endl;
		cout << "异常描述:" << ex.GetErrorDescription() << endl;
		cout << "发生异常的功能:" << ex.GetFunctionName() << endl;
	}


	cout << "DEVICE" << endl;
	cout << "######" << endl << endl;

	// 打开相机列表中的第一台相机
	try
	{
		for (DeviceList::iterator devIterator = deviceList->begin(); devIterator != deviceList->end(); devIterator++)
		{
			try
			{
				cout << "          打开第一台设备          " << endl;
				cout << "          设备的ID:               " << devIterator->first << endl;
				cout << "          设备模型:               " << devIterator->second->GetModel() << endl;
				cout << "          设备序列号:             " << devIterator->second->GetSerialNumber() << endl;
				cout << "          设备制造商:             " << devIterator->second->GetVendor() << endl;
				cout << "          Device TLType:          " << devIterator->second->GetTLType() << endl;
				cout << "          设备的接口状态:         " << devIterator->second->GetAccessStatus() << endl;
				cout << "          设备的用户ID:           " << devIterator->second->GetDisplayName() << endl << endl;
				devIterator->second->Open();
				sDeviceID = devIterator->first;
				cout << "          已打开的设备 - 远程节点列表信息 " << endl;
				cout << "          设备接口状态:           " << devIterator->second->GetAccessStatus() << endl;

				// 序列号
				if(devIterator->second->GetRemoteNodeList()->GetNodePresent("DeviceSerialNumber"))
					cout << "          设备的序列号:     " << devIterator->second->GetRemoteNode("DeviceSerialNumber")->GetValue() << endl;
				else if(devIterator->second->GetRemoteNodeList()->GetNodePresent("DeviceID"))
					cout << "          设备ID (SN):          " << devIterator->second->GetRemoteNode("DeviceID")->GetValue() << endl;
				else
					cout << "          序列号:           Not Available "  << endl;
				cout << "  " << endl;
				break;
			}
			catch (BGAPI2::Exceptions::ResourceInUseException& ex)
			{
				returncode = 0 == returncode ? 1 : returncode;
				cout << " Device  " << devIterator->first << " already opened " << endl;
				cout << " ResourceInUseException: " << ex.GetErrorDescription() << endl;
			}
			catch (BGAPI2::Exceptions::AccessDeniedException& ex)
			{
				returncode = 0 == returncode ? 1 : returncode;
				cout << " 设备  " << devIterator->first << " 已经被打开 " << endl;
				cout << " 接口拒绝异常 " << ex.GetErrorDescription() << endl;
			}
		}
	}
	catch (Exceptions::IException& ex)
	{
		returncode = 0 == returncode ? 1 : returncode;
		cout << "异常类型:" << ex.GetType() << endl;
		cout << "异常描述:" << ex.GetErrorDescription() << endl;
		cout << "发生异常的功能:" << ex.GetFunctionName() << endl;
	}

	// 检查设备是否存在。
	if (sDeviceID == "")
	{
		cout << " 设备不存在： " << sDeviceID << endl;
		cout << endl << "结束！" << endl << "按任意键来结束程序:";
		int endKey = 0;
		cin >> endKey;
		pInterface->Close();
		pSystem->Close();
		SystemList::ReleaseInstance();
		return returncode;
	}
	else
	{
		pDevice = (*deviceList)[sDeviceID];
	}

	cout << "     设置设备参数     " << endl;
	cout << "######################" << endl << endl;

	cout << "   数据流列表   " << endl;
	cout << "################" << endl << endl;
	try
	{
		// 对可以获得的数据流计数
		datastreamList = pDevice->GetDataStreams();// 获取数据流
		datastreamList->Refresh();
		cout << "检测到的数据流:     " << datastreamList->size() << endl;
		// 在设备打开之前显示数据流信息
		for (DataStreamList::iterator dstIterator = datastreamList->begin(); dstIterator != datastreamList->end(); dstIterator++)
		{
			cout << "     数据流 ID:          " << dstIterator->first << endl << endl;
		}// end for
	}
   catch(Exceptions::IException& ex)
   {
       returncode = 0 == returncode ? 1 : returncode;
       cout << "异常类型:    " << ex.GetType() << endl;
       cout << "异常描述: " << ex.GetErrorDescription() << endl;
       cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   cout << "   数据流   " << endl;
   cout << "############" << endl << endl;
   // 打开数据流列表中的第一个数据流
   try
   {
	   for (DataStreamList::iterator dstIterator = datastreamList->begin(); dstIterator != datastreamList->end(); dstIterator++)
	   {
		   cout << "打开第一个数据流 " << endl;
		   cout << "数据流 ID:          " << dstIterator->first << endl << endl;
		   dstIterator->second->Open();
		   sDataStreamID = dstIterator->first;
		   cout << "        已打开的数据流 - 节点列表信息 " << endl;
		   cout << "        数据流声明缓存最小值:  " << dstIterator->second->GetNode("StreamAnnounceBufferMinimum")->GetValue() << endl;
		   if( dstIterator->second->GetTLType() == "GEV" )
		   {
			   cout << "          数据流驱动模型:            " << dstIterator->second->GetNode("StreamDriverModel")->GetValue() << endl;
		   }
		   cout << "  " << endl;
		   break;
	   }
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   // 检查数据流是否存在。
   if (sDataStreamID == "")
   {
	   cout << " 没有找到数据流 " << sDataStreamID << endl;
	   cout << endl << "结束！" << endl << "按任意键结束程序:";
	   int endKey = 0;
	   cin >> endKey;
	   pDevice->Close();
	   pInterface->Close();
	   pSystem->Close();
	   SystemList::ReleaseInstance();
	   return returncode;
   }
   else
   {
	   pDataStream = (*datastreamList)[sDataStreamID];
   }


   cout << "   缓存列表" << endl;
   cout << "##############" << endl << endl;
   try
   {
	   // 数据流列表
	   bufferList = pDataStream->GetBufferList();

	   // 以内部缓存模式使用4个缓存
	   for(int i=0; i<4; i++)
	   {
		   pBuffer = new Buffer();
		   bufferList->Add(pBuffer);// 添加缓存
	   }
	   cout << "已声明的缓存:       " << bufferList->GetAnnouncedCount() << " 使用 " << pBuffer->GetMemSize() * bufferList->GetAnnouncedCount() << " [bytes]" << endl;
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   try
   {
	   for (BufferList::iterator bufIterator = bufferList->begin(); bufIterator != bufferList->end(); bufIterator++)
	   {
		   bufIterator->second->QueueBuffer();
	   }
	   cout << "队列中的缓存数:          " << bufferList->GetQueuedCount() << endl;
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }

   cout << " " << endl;
   cout << "相机开始工作" << endl;
   cout << "############" << endl << endl;
   // 开始获取数据流
   try
   {
	   pDataStream->StartAcquisitionContinuous();
	   cout << "开启数据流 " << endl;
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   // 开启相机
   try
   {
	   cout << "相机" << pDevice->GetModel() << " 开始工作 " << endl;
	   pDevice->GetRemoteNode("AcquisitionStart")->Execute();
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   // 捕获十张图像
   cout << " " << endl;
   cout << "以软触发模式捕获十张图像" << endl;
   cout << "#####################################" << endl << endl;

   Buffer * pBufferFilled = NULL;

   try
   {
	   Image * pImage = NULL;// 图像对象
	   for(int i = 0; i < 100; i++)
	   {
		   // 打开软件触发模式
		   cout << " 执行软件触发模式： " << i+1 << " 是接口类型 " << pDevice->GetRemoteNode("TriggerSoftware")->GetInterface() << endl;
		   pDevice->GetRemoteNode("TriggerSoftware")->Execute();

		   // 等待图像
		   pBufferFilled = pDataStream->GetFilledBuffer(1000); //每1s捕获一张图像
		   if(pBufferFilled == NULL)
		   {
			   cout << "Error: Buffer Timeout after 1000 msec" << endl;
		   }
		   else if(pBufferFilled->GetIsIncomplete() == true)
		   {
			   cout << "Error: Image is incomplete" << endl;
			   // queue buffer again
			   pBufferFilled->QueueBuffer();
		   }
		   else
		   {
			   cout << " 图像 " << std::setw(5) << pBufferFilled->GetFrameID() << " 保存在地址： " << hex << pBufferFilled->GetMemPtr() << dec << endl;
			   Image * pTransformImage = NULL;
			   if (pImage == NULL)
				   pImage = imgProcessor->CreateImage( (bo_uint)pBufferFilled->GetWidth(), (bo_uint)(int)pBufferFilled->GetHeight(), pBufferFilled->GetPixelFormat(), pBufferFilled->GetMemPtr(), pBufferFilled->GetMemSize() );
			   else
				   pImage->Init((bo_uint)pBufferFilled->GetWidth(), (bo_uint)(int)pBufferFilled->GetHeight(), pBufferFilled->GetPixelFormat(), pBufferFilled->GetMemPtr(), pBufferFilled->GetMemSize());
			   cout << "  pImage.Pixelformat:             " << pImage->GetPixelformat() << endl;
			   cout << "  pImage.Width:                   " << pImage->GetWidth() << endl;
			   cout << "  pImage.Height:                  " << pImage->GetHeight() << endl;
			   cout << "  pImage.Buffer:                  " << hex << pImage->GetBuffer() << dec << endl;

			   // 转换成BGR图像
			   pTransformImage = imgProcessor->CreateTransformedImage(pImage, "BGR8");
			   cout << " Image " << setw(5) << pBufferFilled->GetFrameID() << " transformed to BGR8" << endl;
			   cout << "  pTransformImage.Pixelformat:    " << pTransformImage->GetPixelformat() << endl;
			   cout << "  pTransformImage.Width:          " << pTransformImage->GetWidth() << endl;
			   cout << "  pTransformImage.Height:         " << pTransformImage->GetHeight() << endl;
			   cout << "  pTransformImage.Buffer:         " << hex << pTransformImage->GetBuffer() << dec << endl;
			   cout << "  Bytes per image:                " << (long)((pTransformImage->GetWidth())*(pTransformImage->GetHeight())*3.0) << endl;
			   cout << "  Bytes per pixel:                " << 3.0 << endl;

			   string image_path = "D:\\相机图像\\" + to_string(long long(i+1)) + ".jpg";
			   cout<GetHeight()), int(pTransformImage->GetWidth()), CV_8UC3, pTransformImage->GetBuffer());
			   cout<Release();
			   // queue buffer again
			   pBufferFilled->QueueBuffer();
		   }
	   }
   }
   catch(Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "异常类型:    " << ex.GetType() << endl;
	   cout << "异常描述: " << ex.GetErrorDescription() << endl;
	   cout << "发生异常的功能:      " << ex.GetFunctionName() << endl;
   }
   cout << " " << endl;


   cout << "相机停止工作" << endl;
   cout << "###########" << endl << endl;
   try
   {
	   //SEARCH FOR 'AcquisitionAbort'
	   if(pDevice->GetRemoteNodeList()->GetNodePresent("AcquisitionAbort"))
	   {
		   pDevice->GetRemoteNode("AcquisitionAbort")->Execute();
		   cout << "5.1.12   " << pDevice->GetModel() << " aborted " << endl;
	   }

	   pDevice->GetRemoteNode("AcquisitionStop")->Execute();
	   cout << "5.1.12   " << pDevice->GetModel() << " stopped " << endl;
	   cout << endl;

	   BGAPI2::String sExposureNodeName = "";
	   if (pDevice->GetRemoteNodeList()->GetNodePresent("ExposureTime")) {
		   sExposureNodeName = "ExposureTime";
	   }
	   else if (pDevice->GetRemoteNodeList()->GetNodePresent("ExposureTimeAbs")) {
		   sExposureNodeName = "ExposureTimeAbs";
	   }
	   cout << "         ExposureTime:                   " << fixed << setprecision(0) << pDevice->GetRemoteNode(sExposureNodeName)->GetDouble() << " [" << pDevice->GetRemoteNode(sExposureNodeName)->GetUnit() << "]" << endl;
	   if( pDevice->GetTLType() == "GEV" )
	   {
		   if(pDevice->GetRemoteNodeList()->GetNodePresent("DeviceStreamChannelPacketSize"))
			   cout << "         DeviceStreamChannelPacketSize:  " << pDevice->GetRemoteNode("DeviceStreamChannelPacketSize")->GetInt() << " [bytes]" << endl;
		   else
			   cout << "         GevSCPSPacketSize:              " << pDevice->GetRemoteNode("GevSCPSPacketSize")->GetInt() << " [bytes]" << endl;
		   cout << "         GevSCPD (PacketDelay):          " << pDevice->GetRemoteNode("GevSCPD")->GetInt() << " [tics]" << endl;
	   }
	   cout << endl;
   }
   catch (Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   cout << "ExceptionType:    " << ex.GetType() << endl;
	   cout << "ErrorDescription: " << ex.GetErrorDescription() << endl;
	   cout << "in function:      " << ex.GetFunctionName() << endl;
   }

   //STOP DataStream acquisition
   try
   {
	   if( pDataStream->GetTLType() == "GEV" )
	   {
		   //DataStream Statistic
		   std::cout << "         DataStream Statistics " << std::endl;
		   std::cout << "           DataBlockComplete:              " << pDataStream->GetNodeList()->GetNode("DataBlockComplete")->GetInt() << std::endl;
		   std::cout << "           DataBlockInComplete:            " << pDataStream->GetNodeList()->GetNode("DataBlockInComplete")->GetInt() << std::endl;
		   std::cout << "           DataBlockMissing:               " << pDataStream->GetNodeList()->GetNode("DataBlockMissing")->GetInt() << std::endl;
		   std::cout << "           PacketResendRequestSingle:      " << pDataStream->GetNodeList()->GetNode("PacketResendRequestSingle")->GetInt() << std::endl;
		   std::cout << "           PacketResendRequestRange:       " << pDataStream->GetNodeList()->GetNode("PacketResendRequestRange")->GetInt() << std::endl;
		   std::cout << "           PacketResendReceive:            " << pDataStream->GetNodeList()->GetNode("PacketResendReceive")->GetInt() << std::endl;
		   std::cout << "           DataBlockDroppedBufferUnderrun: " << pDataStream->GetNodeList()->GetNode("DataBlockDroppedBufferUnderrun")->GetInt() << std::endl;
		   std::cout << "           Bitrate:                        " << pDataStream->GetNodeList()->GetNode("Bitrate")->GetDouble() << std::endl;
		   std::cout << "           Throughput:                     " << pDataStream->GetNodeList()->GetNode("Throughput")->GetDouble() << std::endl;
		   std::cout << std::endl;
	   }
	   if( pDataStream->GetTLType() == "U3V" )
	   {
		   //DataStream Statistic
		   std::cout << "         DataStream Statistics " << std::endl;
		   std::cout << "           GoodFrames:            " << pDataStream->GetNodeList()->GetNode("GoodFrames")->GetInt() << std::endl;
		   std::cout << "           CorruptedFrames:       " << pDataStream->GetNodeList()->GetNode("CorruptedFrames")->GetInt() << std::endl;
		   std::cout << "           LostFrames:            " << pDataStream->GetNodeList()->GetNode("LostFrames")->GetInt() << std::endl;
		   std::cout << std::endl;
	   }

	   //BufferList Information
	   std::cout << "         BufferList Information " << std::endl;
	   std::cout << "           DeliveredCount:        " << bufferList->GetDeliveredCount() << std::endl;
	   std::cout << "           UnderrunCount:         " << bufferList->GetUnderrunCount() << std::endl;
	   std::cout << std::endl;

	   pDataStream->StopAcquisition();
	   std::cout << "5.1.12   DataStream stopped " << std::endl;
	   bufferList->DiscardAllBuffers();
   }
   catch (BGAPI2::Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   std::cout << "ExceptionType:    " << ex.GetType() << std::endl;
	   std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
	   std::cout << "in function:      " << ex.GetFunctionName() << std::endl;
   }
   std::cout << std::endl;


   std::cout << "RELEASE" << std::endl;
   std::cout << "#######" << std::endl << std::endl;

   //Release buffers
   std::cout << "5.1.13   Releasing the resources " << std::endl;
   try
   {
	   while( bufferList->size() > 0)
	   {
		   pBuffer = bufferList->begin()->second;
		   bufferList->RevokeBuffer(pBuffer);
		   delete pBuffer;
	   }
	   std::cout << "         buffers after revoke:    " << bufferList->size() << std::endl;

	   pDataStream->Close();
	   pDevice->Close();
	   pInterface->Close();
	   pSystem->Close();
	   BGAPI2::SystemList::ReleaseInstance();
   }
   catch (BGAPI2::Exceptions::IException& ex)
   {
	   returncode = 0 == returncode ? 1 : returncode;
	   std::cout << "ExceptionType:    " << ex.GetType() << std::endl;
	   std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
	   std::cout << "in function:      " << ex.GetFunctionName() << std::endl;
   }

   std::cout << std::endl;
   std::cout << "End" << std::endl << std::endl;

   std::cout << "Input any number to close the program:";
   int endKey = 0;
   std::cin >> endKey;
   return returncode;
}