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]"
The base package contains shared protocols and schema helpers and imports without loading any codec backend. Install only the capability needed:
| Extra | Enables |
|---|---|
ros2 |
Fast generic ROS 2 CDR decoding |
video |
Video/image codecs and VideoDecompressFactory |
pointcloud |
Cloudini point-cloud codecs and decoder factories |
draco |
Draco point-cloud codecs |
all |
Combined decoder factory and every backend |
Video, point-cloud, and Draco extras remain separate because their compiled dependencies account for most of the download and installed footprint.
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 ROS-like Image dataclass instances.
video_format="compressed" produces JPEG CompressedImage instances.
Compressed point clouds are returned as PointCloud2 instances. Their fields
use the same attribute access as messages from the generic ROS2 decoder. All
other ROS2 messages use the fast CDR decoder.
Use CompressedPointCloudDecoderFactory or Pointcloud2DecoderFactory when a
structured NumPy array is preferred over a ROS-like message.
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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