11.5. Software based pipeline

• 11.5.1. Introduction
• 11.5.2. Frame grabbers
  • 11.5.2.1. Frame grabbers and ROS
  • 11.5.2.2. PCIe Blackmagic DeckLink Duo SDI frame grabber
  • 11.5.2.3. USB SD S-Video frame grabbers
• 11.5.3. dVRK software
  • 11.5.3.1. Surgeon Console Visualization
    • Console-Oriented Rendering
    • Running the Viewer
      • Command-Line Options
      • Environment Variables
        • Configuration Schema
          • Getting Started
          • Full Configuration Reference
            • Top-Level Field Reference
            • camera Object
            • Extra Streams
            • Augmented Reality (AR)
          • Geometric Scaling & Size Preservation
          • Color Calibration
          • Example Configurations
        • Calibration Tools
          • Step 1 — Camera Alignment (stereo_alignment_calibration)
            • Interactive Controls
            • Color Calibration Tuning
          • Step 2 — Display Alignment (stereo_display_calibration)
            • Interactive Controls
        • Integration & Pipeline
          • Hardware Acceleration
          • Zero-Copy IPC via Unix FD Sinks
          • ROS Integration via gscam
            • Discovering available sockets
            • Launching a gscam node
            • Configuring unixfdsinks
          • Overlay HUD
          • Augmented Reality (AR) Overlay Pipeline
  • 11.5.3.2. dVRK Data
    • Package Layout
    • Data Collection Workflow
      • Data Flow Overview
      • Shared Configuration Files
      • Session Directory Output
      • Downstream Consumption
        • Installation & Prerequisites
          • NVIDIA Hardware Acceleration
          • Installation & Environment
        • Record
          • Examples and configuration files
            • Stereo Video Configuration
            • Stereo Alignment Utility
            • Configuration File Composition
            • Running the Record
            • Stages Feature
          • ROS integration
            • Control Topics
            • Command Line Examples
        • Video Tag
          • Usage
          • Features
        • Extract
          • Stereo Video Splitting
            • Encord Integration
        • Tools for Latency
          • Video Latency
          • Checking Embedded Timestamps
  • 11.5.3.3. Indices and tables
• 11.5.4. ROS/gscam
  • 11.5.4.1. Introduction
    • ROS Ubuntu packages vs build from source
    • Using gscam
  • 11.5.4.2. (rqt_)image_view
  • 11.5.4.3. dVRK launch files
• 11.5.5. Calibration
  • 11.5.5.1. Where to save the calibration results
    • Stereo
    • Mono
  • 11.5.5.2. Start the video
    • Stereo
    • Mono
  • 11.5.5.3. Calibrate the camera
    • Stereo
    • Mono
  • 11.5.5.4. Restart the video using the calibration
    • Stereo
    • Mono
  • 11.5.5.5. RViz