mcap-codec-support
High-performance decoder and encoder factories for robotics data in MCAP files. It supports regular ROS2 CDR messages, H.264/H.265/VP9/AV1 video, and Cloudini/Draco point clouds.
Install all decoding backends:
uv add "mcap-codec-support[all]"
Read every supported message type with small-mcap:
from mcap_codec_support import create_decoder_factories
from small_mcap import read_message_decoded
with open("input.mcap", "rb") as stream:
messages = read_message_decoded(
stream,
decoder_factories=create_decoder_factories(video_format="raw"),
)
for message in messages:
print(message.channel.topic, message.decoded_message)
video_format="raw" produces ROS2 Image-shaped dictionaries.
video_format="compressed" produces JPEG CompressedImage-shaped
dictionaries. Compressed point clouds are returned as PointCloud2-shaped
dictionaries. All other ROS2 messages use the fast CDR decoder.
For more control, compose the individual VideoDecompressFactory,
PointCloudDecompressFactory, and ROS2 DecoderFactory instances yourself.
Keep specialized factories before the general ROS2 factory.
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