ENH: Add points cloud channel to Revopoint config files

Author: kenavolic

ConfigFiles/PlusDeviceSet_Server_Revopoint3DCamera.xml

@@ -3,10 +3,12 @@
     <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" FrameWidth="1920" FrameRate="8" DepthRange="5 500" PortUsImageOrientation="UN" />
+        <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>
@@ -20,4 +22,14 @@
       </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>

ConfigFiles/Testing/PlusDeviceSet_DataCollectionOnly_Revopoint3DCamera.xml

@@ -3,10 +3,12 @@
     <DeviceSet Name="TEST Data collection for Revopoint 3D camera" Description="" />
     <Device Id="VideoDevice" Type="Revopoint3DCamera">
       <DataSources>
-        <DataSource Type="Video" Id="VideoDEPTH" FrameWidth="960" FrameRate="8" DepthRange="5 500" PortUsImageOrientation="UN" />
+        <DataSource Type="Video" Id="VideoDEPTH" FrameType="DEPTH" FrameWidth="960" 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>