Skip to content

docs: clarify camera view controls, stereo modes, and robot integration next steps #1303

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
farbod-nv merged 2 commits into from
Oct 20, 2026
Merged

docs: clarify camera view controls, stereo modes, and robot integration next steps #1303

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
7ee6c5e
docs: clarify camera viewing and robot integration next steps
farbod-nv Oct 20, 2026
0b587d6
docs: remove unrequested agent guidance
farbod-nv Oct 20, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 14 additions & 0 deletions docs/source/references/camera_streaming.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,10 @@ robot to a workstation over the network (split mode). It can also stream :ref:`r
data <recorded-camera-streaming>` — a video file replayed in place of a live camera — and render
to a desktop window instead of the headset.

Controllers adjust the camera view, including its placement, shape, and stereo settings.
This sample does not send robot commands or record robot demonstrations; see `Next steps`_
for robot-control and recording integrations.

The sample lives at :code-dir:`examples/camera_viz/ <examples/camera_viz>`. This page walks you
from setup and a camera-free first run to real cameras and the robot → workstation split mode.
It is the primary user guide for the sample, including commands, configuration, controller
Expand Down Expand Up @@ -354,6 +358,12 @@ needs values it supports (inspect them with ``v4l2-ctl --list-formats-ext``):

./camera_viz.sh run configs/v4l2.yaml # or oakd.yaml / zed.yaml

**ZED Mini: UVC or SDK stereo.** In the 2560×720 UVC mode used by ``v4l2.yaml``, the left
and right camera images are packed side by side. The sample displays that entire image on one
plane, with the same packed image in both headset eyes. For per-eye stereo, install ZED support
with ``./camera_viz.sh setup --with-zed`` and use ``configs/zed.yaml`` (``type: zed``,
``stereo: true``), which retrieves a separate image for each eye through the ZED SDK.

**You should see** the same startup lines as above with the camera's tag (``[v4l2]``,
``[oakd]``, ``[zed]``) and the live feed. Multiple entries in the ``cameras`` list render as one
plane each.
Expand Down Expand Up @@ -927,3 +937,7 @@ Next steps
- :ref:`Stream from a robot <split-mode>` when capture and viewing run on separate machines.
- :ref:`Share the XR session with teleoperation <sharing-the-xr-session>` and map inputs with
the :doc:`retargeting interface </references/retargeting/index>`.
- Control a physical SO-101 and record demonstrations with
:doc:`LeRobot </integrations/lerobot/data_collection_real>`.
- Teleoperate a simulated SO-101 and record demonstrations with
:doc:`Isaac Lab </integrations/lerobot/data_collection_sim>`.
Loading