Revopoint 3D cameras

This device allows you to process depth data from Revopoint 3D cameras. The following data can be retrieved:

The depth map
The points cloud

Supported hardware devices

Link to manufacturer’s website: https://3dcamera.revopoint3d.com/html/areascan/index.html

Supported platforms

Windows 64 bits
Linux (Ubuntu >= 18.04)

SDK Tested Versions

Windows 10: 2.4.0
Ubuntu 18.04: 2.4.0

Installation

Install Revopoint 3D Camera SDK (https://3dcamera.revopoint3d.com/html/Areascan2/index.html)
On Linux, you might have to add udev rules on your system (https://github.com/latimagine/PlusHelpers/tree/main/udev_rules)

Device configuration settings

Type: Revopoint3DCamera
DataSources: One DataSource child element is required per stream. (Required)
- DataSource: Unique data source (Required)
  - FrameType: Type of stream to capture. (Required)
    - DEPTH
    - PCL (The points cloud is sent as an image with 3 scalar components representing the x-y-z coordinates of the points)
  - FrameWidth: Width of the depth stream. (Required)
    - Check Depth image in hardware specifications (https://3dcamera.revopoint3d.com/html/areascan/index.html)
  - FrameRate Acquisition: Frequency for the depth stream. (Required)
    - Check Depth image in hardware specifications (https://3dcamera.revopoint3d.com/html/areascan/index.html).
  - DepthRange: Depth range of acquisition in mm. (Optional, default: 5 500)
    - Check Optimal/Max working distance in hardware specifications (https://3dcamera.revopoint3d.com/html/areascan/index.html).
  - PortUsImageOrientation: Image orientation (Optional, default: UN)

Example configuration file PlusDeviceSet_Server_Revopoint3DCamera.xml

<PlusConfiguration version="2.3">
  <DataCollection StartupDelaySec="1.0">
    <DeviceSet Name="PlusServer: Revopoint 3D Camera" Description="Broadcasting acquired depth video through PlusServer from Revopoint 3D camera" />
    <Device Id="VideoDevice" Type="Revopoint3DCamera">
      <DataSources>
        <DataSource Type="Video" Id="VideoDEPTH" FrameType="DEPTH" FrameWidth="1920" FrameRate="8" DepthRange="5 500" PortUsImageOrientation="UN" />
        <DataSource Type="Video" Id="VideoPCL" FrameType="PCL" PortUsImageOrientation="UN" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="VideoStreamDEPTH" VideoDataSourceId="VideoDEPTH" />
        <OutputChannel Id="VideoStreamPCL" VideoDataSourceId="VideoPCL" />
      </OutputChannels>
    </Device>
  </DataCollection>
  <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18944" SendValidTransformsOnly="true" OutputChannelId="VideoStreamDEPTH">
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="IMAGE" />
      </MessageTypes>
      <ImageNames>
        <Image Name="VideoStreamDEPTH" EmbeddedTransformToFrame="VideoStreamDEPTH" />
      </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
  <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18945" SendValidTransformsOnly="true" OutputChannelId="VideoStreamPCL">
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="IMAGE" />
      </MessageTypes>
      <ImageNames>
        <Image Name="VideoStreamPCL" EmbeddedTransformToFrame="VideoStreamPCL" />
      </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
</PlusConfiguration>