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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/compat_matrix.md
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@@ -45,6 +45,7 @@ MCAP support is validated separately with:
- `./build/mcap_reader_tester`
- `./build/mcap_replay_tester`
- `./build/mcap_body_record_tester`
- `./scripts/replay_mcap.sh`
Current recording scope:
@@ -53,6 +54,7 @@ Current recording scope:
|--------|-------|-------|
| MCAP `foxglove.CompressedVideo` | H.264 | Stored as Annex B access units |
| MCAP `foxglove.CompressedVideo` | H.265 | Stored as Annex B access units |
| MCAP raw body packets | `cvmmap.body_tracking.v1` | Payload bytes are identical to the cv-mmap ZED body PUB packet |
## Current Defaults