Camera Transport Profiles

Use this after the camera tutorial

This page is reference-oriented. If you are learning why the camera settings exist, start with Tutorial 2: Cameras and views and return here when you need to choose an exact transport profile.

The SDK supports separate camera transport policy for projected view, minimap view, and teleop view. This is critical in HORUS because awareness and control do not have the same transport requirements.

Fields that matter

Field	Purpose
streaming_type	compatibility fallback transport
minimap_streaming_type	transport used by the minimap camera panel
teleop_streaming_type	transport used by teleop view
startup_mode	initial camera mode the app should prefer
minimap_image_type	image encoding for the minimap path
teleop_image_type	image encoding for the teleop path

Recommended profiles in current examples

Ground ops

• example: python/examples/ops_registration.py
• policy: ROS for minimap, ROS for teleop
• use when: fake-runtime development, general validation, simple local setups

Carter live workflow

• example: python/examples/carter_registration.py
• policy: ROS for minimap, WebRTC for teleop
• use when: live fleets where teleop needs a lower-latency camera path

Stereo workflow

• example: python/examples/stereo_registration.py
• policy: mono minimap plus stereo teleop
• use when: you want a headset teleop view that is richer than the low-cost awareness stream

Practical guidance

• keep streaming_type populated for compatibility
• set minimap and teleop transport explicitly in new examples
• tune projected and minimap view geometry with the same care as the transport fields
• document whether a given live workflow needs WebRTC support before someone treats it as ROS-only