MCAP Reader
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MCAP Reader

Table of Contents

Description

This package enhances ADTF and the ADTF File Library to read/import Foxglove MCAP files as used for example in ROS2 as rosbag2.

Please have a look at Release Notes.

Overview

The following components are delivered:

Reader ID Stream Meta Type Description
mcap adtf/default Reads content from Foxglove MCAP files (as used for example in ROS2 as rosbag2) containing raw/compressed image, raw audio, compressed video, log and point cloud data.

Data Mapping

Protobuf class ADTF Stream Meta Type
CompressedImage adtf/gstreamer
CompressedVideo adtf/gstreamer
Log adtf/string
PointCloud adtf/devicetb/pointcloud
RawImage adtf/image
RawAudio adtf/audio

Examples

This package includes an ADTF example project to demonstrate the use of the ADTF GStreamer Toolbox with compressed video/image formats in connection with the adtf/gstreamer Stream Meta Type. Make sure you followed the instructions of the ADTF GStreamer Toolbox readme for the correct setup.

How to build

Remarks
If for any reason you do not make use of our delivered prebuilt packages, we recommend using cmake together with conan on which the source code is based.
You will find the required scripts/conan/build/conanfile.py within the source package.

Build Environment

This package has been built and tested only under following compilers and operating systems (native/container):

Windows Desktop (x86_64)

Note
The packages can be used OS version independent, prefered together with conan.
We recommend our used and tested platform Microsoft Windows 11 64 Bit.
On any other Windows 64 Bit platform (e.g. Windows 7, 10 or Server) make sure that it fulfills the following requirements
  • Visual C++ 2019 (at least CXX Compiler MSVC 19.29) / Visual C++ 14.2 (VC142 Toolchain at least 14.29)
  • MSBuild Version 16.x (at least 16.11)
  • MSBuild Tools only or full Visual Studio IDE installation which covers this requirements
  • Windows Kit 11 (at least 10.0.22621.0)
  • CMake at least 3.23

Linux Desktop (x86_64)

Note
The packages can be used OS version and distribution independent, prefered together with conan.
We recommend our used and tested platform Ubuntu 18.04 LTS 64 Bit or higher.
On any other distributions (e.g. Fedora, Debian) make sure that it fulfills the following requirements
  • gcc >= 7
  • libc >= 2.27
  • libstdc++ >= 6.0.25
  • CMake at least 3.23
  • build-essential libarchive-dev mesa-common-dev mesa-utils libglib2.0-0 libxcb-xinerama0

Linux for ARMv8 (AArch64)

Note
The packages can be used OS version and distribution independent, prefered together with conan.
We recommend our used and tested platform Ubuntu 18.04 LTS 64 Bit or higher.
On any other distributions (e.g. Fedora, Debian) make sure that it fulfills the following requirements.
Our reference hardware is nVidia Jetson TX2 Board (compatible to e.g. nVidia Drive PX 2 or Jetson AGX XAVIER)
  • gcc >= 7
  • libc >= 2.27
  • libstdc++ >= 6.0.25
  • CMake at least 3.23
  • build-essential libarchive-dev mesa-common-dev mesa-utils libglib2.0-0

Note: Our entire code is prepared for cross-compiling (as we do as well). See cmake/conan documentation for how to.

License Information

For any license information have a look at LICENSE.

Furthermore please refer to Used Open Source Software for an overview of 3rd party packages we are glad to use.