xcap

Single binary to extract ROS messages from MCAP files.

Features

• Supported messages: CompressedImage, PointCloud2
• Support sliced MCAP files.
• Support MinIO as input source.
• Visualization with Rerun

Usage

Xcap supports MCAP file extracting and visualizing.

Extract

Extract from a local directory containing multiple MCAP files

xcap extract -i /path/to/mcap/dir -o /path/to/output --topics="/lidar,/image"

Extract 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,/image"

In case you want to preview the content during extracing, use --preview flag:

xcap extract -i /path/to/mcap/dir -o /path/to/output --topics="/lidar" --preview

Visualize

A Rerun viewer is required to visualize the data. Install it first:

# install with
cargo install rerun-cli
# or..
pip install rerun-sdk

Visualize the data, do not dump any to disk.

xcap show -i /path/to/mcap/dir --topics="/lidar"

Build

Build the binary

cargo build --release

Build the deb package if you want to share it with others

cargo deb --package xcap --install

Installation

Download the latest release from the releases page.

Install using dpkg:

sudo dpkg -i xcap_<version>_amd64.deb