Single binary to extract ROS messages from MCAP files.
- Supported messages:
Image,CompressedImage,PointCloud2 - Support sliced MCAP files
- Visualization with Rerun
- Support MinIO as input source
Download the latest release from the releases page.
Install using dpkg:
sudo dpkg -i xcap_<version>_amd64.debOptional Install Rerun viewer if you need realtime visualization:
# install with
cargo install rerun-cli
# or..
pip install rerun-sdkXcap supports MCAP file extracting, trimming and visualization.
Extract from a single MCAP file
xcap extract -i /path/to/your.mcap -o /path/to/output --topics /lidar /imageExtract from a local directory containing multiple MCAP files
xcap extract -i /path/to/mcap/dir -o /path/to/output --topics /lidar /imageExtract from a MinIO bucket:
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 /imageTrim the mcap file.
xcap trim -i /path/to/mcap/dir --time-off "2024-12-05 09:50:20" --time-stop "2024-12-05 09:50:25"Visualize the data, do not dump any to disk.
xcap show -i /path/to/mcap/dir --topics /lidarBuild the binary
cargo build --releaseBuild the deb package if you want to share it with others
cargo deb --package xcap --install