DynCam: A Reactive Multithreaded Pipeline Library for 3D Telepresence in VR

We contribute a new library, DynCam, for real-time, low latency, streaming point cloud processing with a special focus on telepresence in VR. Our library combines several RGBD-images from multiple distributed sources to a single point cloud and transfers it through a network. This processing is organized as a pipeline that supports implicit multithreading. The pipeline uses functional reactive programming to describe transformations on the data in a declarative way. In contrast to previous libraries, DynCam is platform independent, modular and lightweight. This makes it easy to extend and allows easy integration into existing applications. We have prototypically implemented a telepresence application in the Unreal Engine. Our results show that DynCam outperforms competing libraries concerning latency as well as network traffic.