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Devices

Carto currently supports Orbbec Femto Megan and Hesai Pandar 40P. It is possible that other Orbbec devices and other Hesai devices can work but they have not been tested and may not be optimally supported.

Orbbec Femto Mega and generic device controls

Orbecc Femto Mega’s were the first devices to be integrated in Carto. When a device is created in Carto, the default device type is “Orbbec”, which refer to the Femto Mega.

Using an Orbbec is very simple: Once plugged to a PoE switch, the camera announces its identity to the network which allows Carto to auto-discover it.

Orbbec Femto Mega’s parameters in Carto

This annotated printscreen shows the controls specific to an Orbbec Femto Mega and other controls that are available for any devices.

  1. Gizmo Button. Click on this button to obtain a gizmo on this device. It is possible to press Ctrl+Click to select multiple devices.
  2. Camera Name This name appeas.
  3. Device delete button. A deleted device will also be disconnected. It is possible to undo this operation with Ctrl+Z
  4. Device activation toggle. A deactivated device will also be disconnected. It won’t use network bandwidth or computing resources.
  5. Device frame rate display. This counter represents the number of point cloud frames that Carto receives from the device every seconds. Important: this value is independent of Carto’s internal framerate.
  6. Device selection dropdown menu.
  7. Refresh button. It is possible to force a device to reconnect by clicking on this button.
  8. IPs dropdown. For Orbbec devices, this menu can be used to select an IP address from a list of detected devices.
  9. Resolution dropdowns. Allows to select one of the valid resolutions for Orbbec Femto Megas.
  10. Frame rate dropdown menu. Used to select a framerate for the Orbbec device. Automatically updates if the current resolution is not compatible with the current framerate.
  11. Thinning menu. Available for every device. Removes points randomly from the displayed point cloud to thin it.

Bandwidth used by an Orbbec Femto Mega depending on its settings

This table can help you planify the network aspect of your installation.

Bandwidth in Mibps as a function of resolution and send rate320x288512x512640x5761024x1024
30 fps44.4 Mibps125 Mibps178 MibpsN/A
25 fps37.0 Mibps106 Mibps148 MibpsN/A
15 fps22.5 Mibps64.2 Mibps90.1 Mibps253 Mibps
5 fps7.44 Mibps21.2 Mibps30.1 Mibps85.1 Mibps

Hesai Pandar 40P

Hesai 40P requires a bit more configuration.

After having plugged them in a network switch, find out its address and navigate to http://<your hesai's ip>/setting.html and change the destination ip and port (TODO: aller voir c’est quoi les champ et mettre un screenshot.)

This annotated screenshot shows the controls related to Hesai devices.

  1. Hesai IP. It is not strictly necessary to put the right IP to receive points from a Hesai but having the right IP makes the “Open Web UI” button work properly.
  2. Port. Port of the hesai. If you have multiple hesais on the same network, you need to change this port in order to have a unique port for each hesai.
  3. Open Web UI. This button opens a web browser window that will show you the configuration of the Hesai that is at the displayed IP. You can further configure the hesai from that web interface.

Point Cloud Controls

These controls are available for all device types and allows you to control the points displayed in the 3D view.

  1. RGB Color. RGBA color of the displayed points.
  2. Calibrate Centroid. Click this button to retrigger a centroid computation. This computation is automatically done when Carto first receives points from a device but if the device was move or if the captured environment changed a lot, you may have to recalibrate the centroid.
  3. Rotation Pivot. These buttons control the rotation pivot of the point cloud. When the rotation pivot is set to “Centroid”, the manipulator gizmo will appear at the “center” of the point cloud and the point cloud will rotate around this center. This is the default behaviour. When the rotation pivot is set to “Camera”, the gizmo appears on the camera icon and the point cloud will rotate as if you were rotating the device that is capturing it.
  4. Translation fine tuning controls. Allows fine adjustments of the position of a point cloud
  5. Rotation fine tuning controls. Allows fine adjustments of the rotation of a point cloud.
  6. Reset buttons When a rotation or a translation is modified, these button allows you to reset them to 0. Note that any change to rotation and translation are also reversible with Ctrl-Z