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Integrate basic MCAP loader from rerun-io/rerun-mcap #10721

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Merged
merged 9 commits into from
Jul 23, 2025
Merged

Integrate basic MCAP loader from rerun-io/rerun-mcap #10721

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72acd0d
Move files over from `rerun-io/rerun-mcap` repo
oxkitsune Jul 22, 2025
24f74bf
lints
grtlr Jul 22, 2025
c6c2e55
wip
grtlr Jul 22, 2025
b0d43dd
cleanup
grtlr Jul 22, 2025
00b0e7c
update architecture
grtlr Jul 22, 2025
3de0544
update `README.md`
grtlr Jul 22, 2025
29c7572
Replace TODOs with issue numbers
oxkitsune Jul 22, 2025
1bec85c
fix teast
grtlr Jul 22, 2025
c30c23d
andagain
grtlr Jul 23, 2025
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Replace TODOs with issue numbers
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@oxkitsune
oxkitsune committed Jul 22, 2025
commit 29c75725dbd8ca50fe495c10174c43b0bdfdc9b6
2 changes: 0 additions & 2 deletions crates/store/re_data_loader/src/loader_mcap.rs
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Expand Up @@ -67,8 +67,6 @@ impl DataLoader for McapLoader {
}

let settings = settings.clone();

// TODO(gijsd): hopefully there's a better way to do this
let contents = contents.into_owned();

// NOTE(1): `spawn` is fine, this whole function is native-only.
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2 changes: 1 addition & 1 deletion crates/store/re_data_loader/src/mcap/decode.rs
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Expand Up @@ -273,7 +273,7 @@ impl<'a> McapChunkDecoder<'a> {
.map_err(PluginError::Other);
};

// TODO(gijsd): Add support for logging warnings directly to Rerun
// TODO(#10724): Add support for logging warnings directly to Rerun
let (ctx, parser) = self.parsers.entry(entity_path.clone()).or_insert_with(|| {
(
ParserContext::new(entity_path.clone()),
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4 changes: 2 additions & 2 deletions crates/store/re_data_loader/src/mcap/schema/sensor_msgs/image.rs
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Expand Up @@ -55,7 +55,7 @@ impl ImageMessageParser {

impl McapMessageParser for ImageMessageParser {
fn append(&mut self, ctx: &mut ParserContext, msg: &mcap::Message<'_>) -> anyhow::Result<()> {
// TODO(gijsd): Do we want to log the unused fields?
// TODO(#10725): Do we want to log the unused fields?
#[allow(unused)]
let sensor_msgs::Image {
header,
Expand All @@ -76,7 +76,7 @@ impl McapMessageParser for ImageMessageParser {
let dimensions = [width, height];
let img_format = decode_image_format(&encoding, dimensions)?;

// TODO(gijsd): big assumption here: image format can technically be different for each image on the topic.
// TODO(#10726): big assumption here: image format can technically be different for each image on the topic.
// `color_model` is `None` for formats created with `ImageFormat::depth`
self.is_depth_image = img_format.color_model.is_none();

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6 changes: 2 additions & 4 deletions crates/store/re_data_loader/src/mcap/schema/sensor_msgs/imu.rs
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Expand Up @@ -155,14 +155,12 @@ impl McapMessageParser for ImuMessageParser {
sensor_readings.finish().into(),
),
(
// TODO(gijsd): Figure out why logging this as `Transform3D.quaternion` doesn't work.
// Transform3D::descriptor_quaternion()
// Couldn't read /rae/imu/data:Transform3D:quaternion @ ((TimeInt(1 732 709 177 965 813 000), RowId(18488EBBEFDBC2827b0bbb5092b80fb6))): mono index out of bounds: 0 (len=4)
// TODO(#10727): Figure out why logging this as `Transform3D.quaternion` doesn't work.
ComponentDescriptor::partial("orientation")
.with_archetype(Self::ARCHETYPE_NAME.into()),
orientation.finish().into(),
),
// TODO(gijsd): Figure out what to do with the covariance matrices.
// TODO(#10728): Figure out what to do with the covariance matrices.
(
ComponentDescriptor::partial("orientation_covariance")
.with_archetype(Self::ARCHETYPE_NAME.into()),
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