3D Camera SDK.
For Hand Tracking

  • Royale SDK
    The Royale software package provides a light-weight camera framework for Time-of-Flight (ToF) 3D cameras. While being tailored to pmd 3D cameras like the flexx2, the framework enables partners and customers to evaluate and/or integrate 3D TOF technology on/in their target platform. This reduces time to first demo and time to market.
  • Royale contains all the logic which is required to operate a ToF based camera. Conveniently control the camera via a high-level interface. The Royale framework is completely designed in C++ using the C++11 standard.

    Download Royale

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Royale 5 SDK

Better Data.
Better Performance.

We are excited to announce the release of our latest major software update, Royale 5, which is now available as a free update. This new version is packed with several enhancements that make it faster and more efficient than ever before. We have also made changes to our Depth API to improve data quality and processing of our latest 3D ToF cameras, like the flexx2.

API Update

We encourage all our users to update their project code to take advantage of these new improvements. We have made special Helper Functions available to assist with the update. Please contact our support team if you have any questions or need assistance. We apologize for any inconvenience caused by the changes to our API, but we believe they are necessary to ensure the best possible experience for our users.

API Changes
  • Significantly improved and optimized processing pipeline for our 3D Time-of-Flight (ToF) cameras, resulting in even better data quality for our users.
  • Better filtering and segmentation of 3D point clouds, resulting in more accurate and precise depth measurements.
  • Opens up new possibilities for applications in fields such as robotics, automation, and security, allowing users to develop more advanced and capable systems.
  • Improved processing capabilities of our API, making it faster and more efficient than ever before.
  • Optimized to run smoothly on devices with limited compute power budgets, such as the Raspberry Pi.

Royale SDK
Four ways to view Depth Data

  • PointCloud View:
    A representation of each 3D pixel as colored x-y-z coordinate.
  • Depth Map View:
    A colored representation of the depth data.
  • Infrared View:
    The amplitude image, captured from the infrared vision mode.
  • Overlay View:
    A combination of the Infrared Image and the Depth Map

There is more to know!

Head over to our tutorials section, to learn how to set up and run Royale with your 3D camera or how to do more advanced things like ROS2 integrations or edge and object detection.

Royale Tutorials

Use Cases
Make it better with 3D

Indoor room reconstruction

pmd sensors are a viable solution to locate objects or people inside large environments, such as buildings. This use case is optimized for long range scanning at a maximum data quality. By making use of multiple frequencies the ambiguity range of the sensor signal can be increased by several magnitudes. At the same time this sampling methods leads to an increase in data confidence and applications with very high demands in data quality can be realized.

Room scanning, indoor navigation

For mapping applications demanding an enhanced situational awareness quick response times are a necessity. These demands are met by increasing the framerate at a minimum cost in data quality.

3D object reconstruction

Scanning and reproduction of man-sized objects in close proximity demands high data confidence equal to environmental mapping. Since in general the objects of interest are in closer proximity, the range requirements and necessary integration time can be lowered in favor of faster scanning speed.

Medium size object recognition, face reconstruction

In general the quality demands of applications in the field of pattern and object recognition are less demanding than metrological applications. On the other hand, a quick system response time is mandatory. Therefore the integration time and correspondingly the data quality is lowered in favor of faster framerates.

Remote collaboration, step by step instruction, table-top gaming

For modern gaming and collaborative applications a quick system response is even more important. Since the range requirement can be lowered and the noise performance of pmd sensors is directly related to the object distance, higher framerates at equal data quality can be realized.

Small object/product recognition

For hand-size objects and products the necessary range requirements can be further limited and only one scanning frequency is sufficient. Therefore the framerate can be almost doubled and vice versa the overall scanning speed.

Hand tracking

The precise detection and recognition of hand gestures in 3D space is very demanding, both in data quality and processing speed. Hence a special use case has been devised offering optimum setting for this special application.

Mixed Modes

The mixed modes can be used to run two or more different modes at the same time, by capturing frames that fit into separate use cases.

For the flexx, Royale offers mixed modes that are a combination of short range/high fps (e.g. for hand tracking) and long range/low fps (environmental scanning). They can be selected like any other use case; to enable the application to distinguish the different use cases the frames will be delivered as separate streams.

Operating Systems

Royale supports the following operating systems:

  • Windows 10/11
  • Linux (tested on Ubuntu 20.04)
  • Android (tested on Android 8)
  • Linux ARM (32Bit version tested on Raspbian GNU/Linux 10 (Buster) Raspberry Pi reference 2020-08-20 - 64Bit version tested on a Raspberry 4 with Ubuntu 20.04 ARM 64)

Hardware Support & Requirements

Royale is tested on the following hardware configurations:

  • PC, AMD Ryzen 7 PRO 5850U (64 bit
  • Samsung Galaxy S9
  • Raspberry Pi 4

Also make sure to fullfill the requirements, when working with one of these platforms:

  • On x86 platforms : AVX2 support required
  • On ARMv7A platforms : NEON >= v4 required

Software Ecosystem