11.5.3. dVRK software

The ROS 2 dVRK video tools are split into two packages with distinct roles:

• dvrk_data provides the video transport and data collection tools. It focuses on GStreamer-based acquisition, multi-process video routing with unixfd sockets, timestamp preservation, session recording, video tagging, extraction, and ROS 2 bag capture.

• dvrk_console provides applications intended for the surgeon’s console: stereo_display for the HRSV/stereo display pipeline and control_panel for a simplified operator-facing UI. This is separate from the main dvrk_system UI, which remains the debug/engineering interface.

• 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