Visual Servoing Platform  version 3.6.1 under development (2023-12-07)

This example visualize point cloud from a Occipital Structure Core sensor with libStructure. If a color sensor is used, RGB pointcloud is visualized.

* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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* it under the terms of the GNU General Public License as published by
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* See the file LICENSE.txt at the root directory of this source
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* Edition License.
* See for more information.
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* 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:
* Point cloud depth visualization with Occipital Structure Core sensor.
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpOccipitalStructure.h>
int main()
try {
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.;
// Calling these 2 functions to set internal variables.
#if defined(VISP_HAVE_X11)
vpDisplayX display_visible; // Visible image
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display_visible; // Visible image
display_visible.init(I_visible, static_cast<int>(I_visible.getWidth() / display_scale) + 80, 10, "Color image");
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud(new pcl::PointCloud<pcl::PointXYZRGB>);
sc.acquire((unsigned char *)I_visible.bitmap, nullptr, nullptr, pointcloud);
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(pointcloud);
viewer->setBackgroundColor(0, 0, 0);
viewer->setCameraPosition(0, 0, -0.5, 0, -1, 0);
while (true) {
double t = vpTime::measureTimeMs();
// Acquire depth as point cloud.
sc.acquire((unsigned char *)I_visible.bitmap, nullptr, nullptr, pointcloud);
vpDisplay::displayText(I_visible, 15 * display_scale, 15 * display_scale, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I_visible, false))
static bool update = false;
if (!update) {
viewer->addPointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
update = true;
else {
viewer->updatePointCloud<pcl::PointXYZRGB>(pointcloud, rgb, "sample cloud");
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;
#elif !defined(VISP_HAVE_PCL)
std::cout << "You do not have PCL 3rd party installed." << 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:128
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") override
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
unsigned int getWidth() const
Definition: vpImage.h:240
Type * bitmap
points toward the bitmap
Definition: vpImage.h:139
unsigned int getHeight(vpOccipitalStructureStream stream_type)
vpCameraParameters getCameraParameters(const vpOccipitalStructureStream stream_type, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithoutDistortion)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=nullptr)
unsigned int getWidth(vpOccipitalStructureStream stream_type)
bool open(const ST::CaptureSessionSettings &settings)
VISP_EXPORT double measureTimeMs()