ENH: Add points cloud channel to AzureKinect config files

Author: kenavolic

ConfigFiles/PlusDeviceSet_Server_AzureKinect.xml

@@ -5,10 +5,12 @@
       <DataSources>
         <DataSource Type="Video" Id="VideoRGB" FrameType="RGB" FrameSize="1920" FrameRate="15" PortUsImageOrientation="UN" />
         <DataSource Type="Video" Id="VideoDEPTH" FrameType="DEPTH" FrameSize="1024" FrameRate="15" PortUsImageOrientation="UN" />
+        <DataSource Type="Video" Id="VideoPCL" FrameType="PCL" FrameSize="1920" FrameRate="15" PortUsImageOrientation="UN" />
       </DataSources>
       <OutputChannels>
         <OutputChannel Id="VideoStreamRGB" VideoDataSourceId="VideoRGB" />
         <OutputChannel Id="VideoStreamDEPTH" VideoDataSourceId="VideoDEPTH" />
+        <OutputChannel Id="VideoStreamPCL" VideoDataSourceId="VideoPCL" />
       </OutputChannels>
     </Device>
   </DataCollection>
@@ -32,4 +34,14 @@
       </ImageNames>
     </DefaultClientInfo>
   </PlusOpenIGTLinkServer>
+  <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18946" SendValidTransformsOnly="true" OutputChannelId="VideoStreamPCL">
+    <DefaultClientInfo>
+      <MessageTypes>
+        <Message Type="IMAGE" />
+      </MessageTypes>
+      <ImageNames>
+        <Image Name="VideoStreamPCL" EmbeddedTransformToFrame="VideoStreamPCL" />
+      </ImageNames>
+    </DefaultClientInfo>
+  </PlusOpenIGTLinkServer>
 </PlusConfiguration>

ConfigFiles/Testing/PlusDeviceSet_DataCollectionOnly_AzureKinect.xml

@@ -1,14 +1,16 @@
 <PlusConfiguration version="2.3">
   <DataCollection StartupDelaySec="1.0">
     <DeviceSet Name="TEST Data collection for AzureKinect Device" Description="" />
-    <Device Id="VideoDevice" Type="AzureKinect" AlignDepthStream="FALSE">
+    <Device Id="VideoDevice" Type="AzureKinect" AlignDepthStream="TRUE">
       <DataSources>
-        <DataSource Type="Video" Id="VideoRGB" FrameType="RGB" FrameSize="1280" FrameRate="15" PortUsImageOrientation="UN" />
-        <DataSource Type="Video" Id="VideoDEPTH" FrameType="DEPTH" FrameSize="640" FrameRate="15" PortUsImageOrientation="UN" />
+        <DataSource Type="Video" Id="VideoRGB" FrameType="RGB" FrameSize="1920" FrameRate="15" PortUsImageOrientation="UN" />
+        <DataSource Type="Video" Id="VideoDEPTH" FrameType="DEPTH" FrameSize="1024" FrameRate="15" PortUsImageOrientation="UN" />
+        <DataSource Type="Video" Id="VideoPCL" FrameType="PCL" FrameSize="1920" FrameRate="15" PortUsImageOrientation="UN" />
       </DataSources>
       <OutputChannels>
         <OutputChannel Id="VideoStreamRGB" VideoDataSourceId="VideoRGB" />
         <OutputChannel Id="VideoStreamDEPTH" VideoDataSourceId="VideoDEPTH" />
+        <OutputChannel Id="VideoStreamPCL" VideoDataSourceId="VideoPCL" />
       </OutputChannels>
     </Device>
   </DataCollection>