Visual Servoing Platform  version 3.6.0 under development (2023-09-29)

This example shows how to retrieve images from a Occipital Structure Core sensor with libStructure.

* 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
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* (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
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* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Image acquisition with Structure Core sensor and libStructure.
#include <iostream>
#include <visp3/core/vpConfig.h>
(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int main()
try {
double t;
unsigned int display_scale = 1;
ST::CaptureSessionSettings settings;
settings.source = ST::CaptureSessionSourceId::StructureCore;
settings.structureCore.visibleEnabled = true;
settings.applyExpensiveCorrection = true; // Apply a correction and clean filter to the depth before streaming.;
vpImage<float> I_depth_raw;
vpImage<vpRGBa> I_depth;
vpImage<vpRGBa> I_visible;
#if defined(VISP_HAVE_X11)
vpDisplayX display_visible; // Visible image
vpDisplayX display_depth; // Depth image
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_visible; // Visible image
vpDisplayGDI display_depth; // Depth image
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)
I_visible =
display_visible.init(I_visible, 10, 10, "Visible image");
I_depth_raw =
display_depth.init(I_depth, static_cast<int>(I_visible.getWidth() / display_scale) + 20, 10, "Depth image");
while (true) {
sc.acquire((unsigned char *)I_visible.bitmap, (unsigned char *)I_depth_raw.bitmap);
vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
vpDisplay::displayText(I_depth, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I_visible, false) || vpDisplay::getClick(I_depth, false))
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << std::endl;
} catch (const vpException &e) {
std::cerr << "Structure SDK error " << e.what() << std::endl;
} catch (const std::exception &e) {
std::cerr << e.what() << std::endl;
int main()
std::cout << "You do not have Occipital Structure SDK functionality enabled..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install libStructure, configure again ViSP using cmake and build again this example" << std::endl;
std::cout << "You do not build ViSP with c++11 or higher compiler flag" << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Configure ViSP again using cmake -DUSE_CXX_STANDARD=11, and build again this example" << std::endl;
#elif !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI))
std::cout << "You don't have X11 or GDI display capabilities" << std::endl;
static const vpColor red
Definition: vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:132
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:227
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:59
const char * what() const
Definition: vpException.cpp:70
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
unsigned int getWidth() const
Definition: vpImage.h:242
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
unsigned int getHeight(vpOccipitalStructureStream stream_type)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=NULL)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
VISP_EXPORT double measureTimeMs()