Atracsys Camera Operators#

Authors: Artrit Telaku (Wayland Technologies)
Supported platforms: x86_64, aarch64
Language: C++
Last modified: April 29, 2026
Latest version: 0.1.0
Minimum Holoscan SDK version: 4.0.0
Tested Holoscan SDK versions: 4.0.0
Contribution metric: Level 4 - Experimental

This package contains the optional live-camera path for the Atracsys visualizer. It is not required for the default replay build.

Architecture#

graph LR
    HW[Physical Camera] --> Master(AtracsysMasterSourceOp)
    Master -- Disparity --> Filter[PointCloudFilterOp]
    Filter -- 3D Points --> Out((Output))
    Master -- Tracking/Video --> Out

The package provides:

• AtracsysMasterSourceOp for visible, infrared, marker-pose, and disparity output
• PointCloudFilterOp for converting disparity plus Q-matrix data into structured-light points asynchronously via the GPU.

Proprietary SDK Dependency#

The live camera operator relies on vendor SDKs which are not included. To compile and use this operator, you must:

1. Contact contact@wayland.io to obtain the latest SDK and the S3DK.
2. Install the Atracsys SDK so that its CMake package is discoverable (e.g., at /opt/atracsys-4.9.0).
3. Install the S3DK such that it is discoverable through S3DK_ROOT (e.g., at /opt/s3dk).

Build requirements:

• Atracsys SDK with CMake package discovery
• S3DK installation discoverable through S3DK_ROOT
• OpenCV with CUDA support plus the stereo-processing modules used by S3DK
• TBB and OpenMP support available to the OpenCV/S3DK stack

Runtime requirements:

• supported Atracsys hardware
• installed vendor SDKs
• any required USB/container privileges for device access

This operator package is intended to be enabled explicitly as an optional dependency for atracsys_visualizer live-camera mode.