Visual Servoing Platform  version 3.6.1 under development (2024-06-18)

Example of framegrabbing using vpFlyCaptureGrabber class.

* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
* See for more information.
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* If you have questions regarding the use of this file, please contact
* Inria at
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Acquire images using FlyCapture SDK.
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#define GETOPTARGS "cdhi:n:o:"
using namespace VISP_NAMESPACE_NAME;
void usage(const char *name, const char *badparam, unsigned int icamera, std::string &opath)
fprintf(stdout, "\n\
Acquire and display images using PointGrey FlyCapture SDK.\n\
%s [-c] [-d] [-i <camera index>] [-o <output image filename>] [-h] \n",
fprintf(stdout, "\n\
OPTIONS: Default\n\
-c \n\
Disable mouse click and acquire only 10 images.\n\
-d \n\
Turn off the display.\n\
-i [%%d] %u\n\
Camera index to connect (0 for the first one). \n\
-o [%%s]\n\
Filename for image saving. \n\
Example: -o %s\n\
The %%d is for the image numbering.\n\
-h \n\
Print the help.\n\
icamera, opath.c_str());
if (badparam) {
fprintf(stderr, "ERROR: \n");
fprintf(stderr, "\nBad parameter [%s]\n", badparam);
bool getOptions(int argc, const char **argv, bool &display, bool &click, bool &save, std::string &opath,
unsigned int &icamera)
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click = false;
case 'd':
display = false;
case 'i':
icamera = (unsigned int)atoi(optarg_);
case 'o':
save = true;
opath = optarg_;
case 'h':
usage(argv[0], nullptr, icamera, opath);
return false;
usage(argv[0], optarg_, icamera, opath);
return false;
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], nullptr, icamera, opath);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
return true;
// usage: binary <device name>
// device name: 0 is the default to dial with the first camera,
// 1 to dial with a second camera attached to the computer
int main(int argc, const char **argv)
try {
bool opt_display = true;
bool opt_click = true;
bool opt_save = false;
unsigned int opt_icamera = 0;
std::string opt_opath = "I%04d.pgm";
// vpImage<vpRGBa> I; // for color images
vpImage<unsigned char> I; // for gray images
// Read the command line options
if (getOptions(argc, argv, opt_display, opt_click, opt_save, opt_opath, opt_icamera) == false) {
std::cout << "Use device : " << opt_icamera << std::endl;
g.setCameraIndex(opt_icamera); // open the default camera;
std::cout << "Camera serial: " << g.getCameraSerial(g.getCameraIndex()) << std::endl;
std::cout << "Image size : " << I.getWidth() << " " << I.getHeight() << std::endl;
vpDisplay *display = nullptr;
if (opt_display) {
#if defined(VISP_HAVE_X11)
display = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
std::cout << "No image viewer is available..." << std::endl;
for (;;) {
g.acquire(I); // get a new frame from camera
if (opt_save) {
static unsigned int frame = 0;
char buf[FILENAME_MAX];
snprintf(buf, FILENAME_MAX, opt_opath.c_str(), frame++);
std::string filename(buf);
std::cout << "Write: " << filename << std::endl;
vpImageIo::write(I, filename);
vpDisplay::displayText(I, 10, 10, "A click to quit...", vpColor::red);
if (opt_click && opt_display) {
if (vpDisplay::getClick(I, false) == true)
else {
static unsigned int cpt = 0;
if (cpt++ == 10)
if (display)
delete display;
// The camera connection will be closed automatically in vpFlyCapture
// destructor
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getStringMessage() << std::endl;
int main()
std::cout << "You do not have PointGrey FlyCapture SDK enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install FlyCapture SDK, configure again ViSP using cmake and build again this example" << std::endl;
static const vpColor red
Definition: vpColor.h:213
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:132
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:131
Class that defines generic functionalities for display.
Definition: vpDisplay.h:174
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Definition: vpException.h:60
const std::string & getStringMessage() const
Definition: vpException.cpp:67
void setCameraIndex(unsigned int index)
static unsigned int getCameraSerial(unsigned int index)
void open(vpImage< unsigned char > &I)
void acquire(vpImage< unsigned char > &I)
unsigned int getCameraIndex() const
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:291
unsigned int getWidth() const
Definition: vpImage.h:246
unsigned int getHeight() const
Definition: vpImage.h:185
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:71
void display(VISP_NAMESPACE_ADDRESSING vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.