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https://github.com/yinguobing/xcap
Single binary to extract ROS messages from MCAP files.
https://github.com/yinguobing/xcap
mcap ros ros2 rust
Last synced: 7 days ago
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Single binary to extract ROS messages from MCAP files.
- Host: GitHub
- URL: https://github.com/yinguobing/xcap
- Owner: yinguobing
- License: gpl-3.0
- Created: 2024-07-14T07:54:39.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2024-12-10T03:20:10.000Z (about 1 month ago)
- Last Synced: 2024-12-10T04:22:49.742Z (about 1 month ago)
- Topics: mcap, ros, ros2, rust
- Language: Rust
- Homepage:
- Size: 123 KB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# xcap
Single binary to extract ROS messages from MCAP files.
## Features
- Supported messages: CompressedImage, PointCloud2
- Support sliced MCAP files.
- Support MinIO as input source.
- Visualization with Rerun
## Usage
Xcap supports MCAP file extracting, trimming and visualization.
### Extract
Extract from a local directory containing multiple MCAP files
```bash
xcap extract -i /path/to/mcap/dir -o /path/to/output --topics="/lidar,/image"
```
Extract from a MinIO bucket:
```bash
export S3_ACCESS_KEY="YOUR_KEY"
export S3_SECRET_KEY="YOUR_SECRET"
export S3_REGION="YOUR_REGION"
xcap extract -i "http://your_minio:port/bucket_name/path/to/one_of_the_mcap_file.mcap" -o /path/to/output --topics="/lidar,/image"
```
In case you want to preview the content during extracing, use `--preview` flag:
```bash
xcap extract -i /path/to/mcap/dir -o /path/to/output --topics="/lidar" --preview
```
### Trim
Trim the mcap file.
```bash
xcap trim -i /path/to/mcap/dir --time-off "2024-12-05 09:50:20" --time-stop "2024-12-05 09:50:25"
```
### Visualize
A [Rerun](https://rerun.io/) viewer is required to visualize the data. Install it first:
```bash
# install with
cargo install rerun-cli
# or..
pip install rerun-sdk
```
Visualize the data, do not dump any to disk.
```bash
xcap show -i /path/to/mcap/dir --topics="/lidar"
```
## Build
Build the binary
```bash
cargo build --release
```
Build the deb package if you want to share it with others
```bash
cargo deb --package xcap --install
```
## Installation
Download the latest release from the [releases page](https://github.com/yinguobing/xcap/releases).
Install using `dpkg`:
```bash
sudo dpkg -i xcap__amd64.deb
```