Make MCAP and depth support optional

2026-04-14 17:13:29 +08:00
parent ddea6b0e3d
commit 16a1a38645
12 changed files with 836 additions and 328 deletions
@@ -8,6 +8,15 @@
 #include <string_view>
 #include <vector>

+#ifndef CVMMAP_STREAMER_HAS_MCAP
+#define CVMMAP_STREAMER_HAS_MCAP 0
+#endif
+
+#ifndef CVMMAP_STREAMER_HAS_MCAP_DEPTH
+#define CVMMAP_STREAMER_HAS_MCAP_DEPTH 0
+#endif
+
+
 namespace cvmmap_streamer {

 enum class CodecType {
@@ -89,6 +98,7 @@ struct OutputsConfig {

 struct McapRecordConfig {
 	bool enabled{false};
+	bool depth_enabled{true};
 	std::string path{"capture.mcap"};
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};