Yes, Horizon Video is a plugin that allows you to view a video stream on the GCS computer. You can also overlay telemetry data onto the video screen.
Horizon video can open a DirectShow device, or a stream (RTSP, RTP, or UDP).
Configuring the Horizon Video settings is done in the "Video" tab of Horizon Settings.
The "Select/Configure Camera" button will allow you to select the video input device, or to enter the stream information.
There are many additional settings on the Video tab for other video features.
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