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feat(record): add raw ZED body MCAP capture

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crosstyan
2026-03-13 17:30:57 +08:00
parent e0946d777f
commit 172df30225
14 changed files with 681 additions and 19 deletions
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docs/caveats.md
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@@ -86,6 +86,10 @@ If you need audio transport, muxing, or A/V sync, that is outside the current re
MCAP recording stores one `foxglove.CompressedVideo` message per encoded access unit. Replay depends on encoded keyframes carrying decoder configuration; this is handled by the current writer on keyframes.
### MCAP Body Recording Is Raw Packet Capture
When the producer exposes ZED body tracking, MCAP recording stores one raw `cvmmap.body_tracking.v1` message per body PUB packet on `/camera/body` by default. These payload bytes are not normalized by `cvmmap-streamer`; downstream consumers should parse them with the cv-mmap body-tracking v1 contract.
## External Server Caveats
### Local SRS Defaults Can Hit `ulimit`