demcap

Extract data from MCAP files to readable formats.

Usage

vuer demcap <mcap_path> [OPTIONS]

Description

Extracts and organizes data from ROS2 MCAP bag files into human-readable formats. Supports RGB images, depth images, LiDAR point clouds, IMU data, camera intrinsics, TF transforms, odometry, and joint states.

Arguments

Argument	Type	Required	Description
mcap_path	string	Yes	Path to MCAP file

Options

Option	Type	Default	Description
--output	string	extracted_data/<filename>	Output directory
--no-video	bool	False	Skip video creation from RGB images
--fps	int	30	Frame rate for output videos
--start-time	int	None	Start timestamp in nanoseconds
--end-time	int	None	End timestamp in nanoseconds

Examples

# Extract to default location
vuer demcap /path/to/recording.mcap

# Custom output directory
vuer demcap /path/to/recording.mcap --output ./my_output

# Skip video generation
vuer demcap /path/to/recording.mcap --no-video

# Extract time range
vuer demcap /path/to/recording.mcap --start-time 1000000000 --end-time 5000000000

Output Structure

<output_dir>/
├── images/           # RGB images per camera
├── depth/            # Depth images per camera
├── lidar/            # LiDAR point cloud data
├── imu/              # IMU sensor data (CSV)
├── transforms/       # TF transform data (CSV)
├── videos/           # Generated videos from images
├── camera_intrinsics.json
├── odometry.csv
└── joint_states.csv

Dependencies

pip install 'vuer-ros[mcap]'

API Reference