xcap

Single binary to extract ROS messages from MCAP files.

Features

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

Installation

Download the latest release from the releases page.

Install using dpkg:

sudo dpkg -i xcap_<version>_amd64.deb

Optional Install Rerun viewer if you need realtime visualization:

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

Usage

Xcap supports MCAP file extracting, trimming and visualization.

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

Trim

Trim 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

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