Because each row shows two different "views" of the same chunk of data, a practical way to achieve this is by reading a whole row into a buffer. With those bytes in your buffer, you can then format your line of output however you want.
For each row of output, you loop twice over your buffer: once to output the data as hex codes, and once to output the data as characters.
Here's a no-frills demonstration that just reads from standard input and outputs in roughly the same format as you showed.  Try it out here:
#include <cctype>
#include <iostream>
#include <iomanip>
int main()
{
    const int ROW_SIZE = 16;        // Number of bytes per row
    const int GROUP_SIZE = 8;       // Number of bytes for each hex group
    unsigned long address = 0;
    std::cout << std::hex << std::setfill('0');
    while (std::cin.good())
    {
        // Read up to ROW_SIZE bytes
        int nread;
        char buf[ROW_SIZE];
        for (nread = 0; nread < ROW_SIZE && std::cin.get(buf[nread]); nread++);
        if (nread == 0) break;
        // Show the address
        std::cout << std::setw(8) << address;
        // Show the hex codes
        for (int i = 0; i < ROW_SIZE; i++)
        {
            if (i % GROUP_SIZE == 0) std::cout << ' ';
            if (i < nread)
                std::cout << ' ' << std::setw(2) << (unsigned int)(unsigned char)buf[i];
            else
                std::cout << "   ";
        }
        // Show printable characters
        std::cout << "  ";
        for (int i = 0; i < nread; i++)
        {
            std::cout << (std::isprint(buf[i]) ? buf[i] : '.');
        }
        std::cout << "\n";
        address += ROW_SIZE;
    }
}
Input
Hello there, this is a test binary file.
What do you think?
.
Output
00000000  48 65 6c 6c 6f 20 74 68  65 72 65 2c 20 74 68 69  Hello there, thi
00000010  73 20 69 73 20 61 20 74  65 73 74 20 62 69 6e 61  s is a test bina
00000020  72 79 20 66 69 6c 65 2e  0a 57 68 61 74 20 64 6f  ry file..What do
00000030  20 79 6f 75 20 74 68 69  6e 6b 3f 0a 0a 2e         you think?...