feat(record): add raw ZED body MCAP capture

CMakeLists.txt

@@ -206,6 +206,8 @@ add_cvmmap_binary(rtmp_stub_tester src/testers/rtmp_stub_tester.cpp)
 add_cvmmap_binary(rtmp_output_tester src/testers/rtmp_output_tester.cpp)
 add_cvmmap_binary(ipc_snapshot_tester src/testers/ipc_snapshot_tester.cpp)
 add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.cpp)
+add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
+add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
 
 add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
 target_include_directories(mcap_reader_tester

docs/caveats.md

@@ -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`

docs/compat_matrix.md

@@ -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
 

docs/mcap_body_tracking.md

@@ -0,0 +1,44 @@
+# MCAP ZED Body Tracking Contract
+
+`cvmmap-streamer` records native cv-mmap ZED body-tracking packets into MCAP as a raw binary channel.
+
+## Channel
+
+- default topic: `/camera/body`
+- `messageEncoding`: `cvmmap.body_tracking.v1`
+- schema: none (`schemaId = 0`)
+- channel metadata:
+  - `packet_layout = cvmmap_body_tracking_v1`
+  - `payload_format = raw`
+  - `source_transport = cv-mmap-body-pub`
+
+The channel is created lazily on the first valid body packet, so non-body inputs do not produce an empty `/camera/body` channel.
+
+## Payload
+
+Each MCAP message payload is byte-for-byte identical to the cv-mmap ZED body PUB packet:
+
+- 64-byte `body_tracking_message_header_t`
+- followed by `body_count` packed `body_tracking_body_t` records
+
+The intended parser contract is the existing cv-mmap body-tracking v1 layout:
+
+- `cvmmap::parse_body_tracking_message(...)`
+- `cv-mmap/docs/cvmmap_body_tracking_v1.ksy`
+
+This recording path does not remap joints, filter fields, or convert the packet into protobuf/JSON.
+
+## Timing And Alignment
+
+- `logTime` and `publishTime` use `header.timestamp_ns`
+- if `header.timestamp_ns == 0`, they fall back to `header.sdk_timestamp_ns`
+- cross-topic alignment should use body `frame_count` and timestamps, not MCAP file order
+
+## Configuration
+
+MCAP body capture follows the normal MCAP recording switch:
+
+- enable MCAP with `--mcap` or `record.mcap.enabled = true`
+- override the body topic with `--mcap-body-topic` or `record.mcap.body_topic`
+
+There is no separate body-enable flag. If the input never emits body packets, no body channel is written.

include/cvmmap_streamer/config/runtime_config.hpp

@@ -84,6 +84,7 @@ struct McapRecordConfig {
 	std::string path{"capture.mcap"};
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};
+	std::string body_topic{"/camera/body"};
 	std::string frame_id{"camera"};
 	McapCompression compression{McapCompression::Zstd};
 };

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -26,6 +26,11 @@ struct RawDepthMapView {
 	std::span<const float> pixels{};
 };
 
+struct RawBodyTrackingMessageView {
+	std::uint64_t timestamp_ns{0};
+	std::span<const std::uint8_t> bytes{};
+};
+
 class McapRecordSink {
 public:
 	McapRecordSink() = default;
@@ -51,6 +56,9 @@ public:
 	[[nodiscard]]
 	std::expected<void, std::string> write_depth_map(const RawDepthMapView &depth_map);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_body_tracking_message(const RawBodyTrackingMessageView &body_message);
+
 	[[nodiscard]]
 	bool is_open() const;
 

src/config/runtime_config.cpp

@@ -362,6 +362,10 @@ std::expected<void, std::string> apply_toml_file(RuntimeConfig &config, const st
 		config.record.mcap.enabled = true;
 		config.record.mcap.depth_topic = *value;
 	}
+	if (auto value = toml_value<std::string>(table, "record.mcap.body_topic")) {
+		config.record.mcap.enabled = true;
+		config.record.mcap.body_topic = *value;
+	}
 	if (auto value = toml_value<std::string>(table, "record.mcap.frame_id")) {
 		config.record.mcap.enabled = true;
 		config.record.mcap.frame_id = *value;
@@ -560,6 +564,7 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
 	std::string mcap_path_raw{};
 	std::string mcap_topic_raw{};
 	std::string mcap_depth_topic_raw{};
+	std::string mcap_body_topic_raw{};
 	std::string mcap_frame_id_raw{};
 	std::string mcap_compression_raw{};
 	std::string queue_size_raw{};
@@ -600,6 +605,7 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
 	app.add_option("--mcap-path", mcap_path_raw);
 	app.add_option("--mcap-topic", mcap_topic_raw);
 	app.add_option("--mcap-depth-topic", mcap_depth_topic_raw);
+	app.add_option("--mcap-body-topic", mcap_body_topic_raw);
 	app.add_option("--mcap-frame-id", mcap_frame_id_raw);
 	app.add_option("--mcap-compression", mcap_compression_raw);
 	app.add_option("--queue-size", queue_size_raw);
@@ -712,6 +718,10 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
 		config.record.mcap.enabled = true;
 		config.record.mcap.depth_topic = mcap_depth_topic_raw;
 	}
+	if (!mcap_body_topic_raw.empty()) {
+		config.record.mcap.enabled = true;
+		config.record.mcap.body_topic = mcap_body_topic_raw;
+	}
 	if (!mcap_frame_id_raw.empty()) {
 		config.record.mcap.enabled = true;
 		config.record.mcap.frame_id = mcap_frame_id_raw;
@@ -846,6 +856,9 @@ std::expected<void, std::string> validate_runtime_config(const RuntimeConfig &co
 	if (config.record.mcap.depth_topic.empty()) {
 		return std::unexpected("invalid MCAP config: depth_topic must not be empty");
 	}
+	if (config.record.mcap.body_topic.empty()) {
+		return std::unexpected("invalid MCAP config: body_topic must not be empty");
+	}
 	if (config.record.mcap.frame_id.empty()) {
 		return std::unexpected("invalid MCAP config: frame_id must not be empty");
 	}
@@ -885,6 +898,7 @@ std::string summarize_runtime_config(const RuntimeConfig &config) {
 	ss << ", mcap.path=" << config.record.mcap.path;
 	ss << ", mcap.topic=" << config.record.mcap.topic;
 	ss << ", mcap.depth_topic=" << config.record.mcap.depth_topic;
+	ss << ", mcap.body_topic=" << config.record.mcap.body_topic;
 	ss << ", mcap.frame_id=" << config.record.mcap.frame_id;
 	ss << ", mcap.compression=" << to_string(config.record.mcap.compression);
 	ss << ", latency.queue_size=" << config.latency.queue_size;

src/ipc/help.cpp

@@ -9,7 +9,7 @@ namespace cvmmap_streamer {
 
 namespace {
 
-constexpr std::array<std::string_view, 32> kHelpLines{
+constexpr std::array<std::string_view, 33> kHelpLines{
 	"Usage:",
 	"  --help, -h\tshow this message",
 	"",
@@ -35,6 +35,7 @@ constexpr std::array<std::string_view, 32> kHelpLines{
 	"  --mcap-path <path>\tMCAP output file",
 	"  --mcap-topic <topic>\tMCAP topic name",
 	"  --mcap-depth-topic <topic>\tMCAP depth topic name",
+	"  --mcap-body-topic <topic>\tMCAP body topic name",
 	"  --mcap-frame-id <id>\tFoxglove CompressedVideo frame_id",
 	"  --mcap-compression <mode>\tnone|lz4|zstd",
 	"",

src/pipeline/pipeline_runtime.cpp

@@ -8,6 +8,7 @@
 #include "cvmmap_streamer/record/mcap_record_sink.hpp"
 
 #include <cvmmap/client.hpp>
+#include <cvmmap/parser.hpp>
 
 #include <chrono>
 #include <cstddef>
@@ -59,6 +60,7 @@ constexpr int exit_code(PipelineExitCode code) {
 struct ResolvedInputEndpoints {
 	std::string shm_name;
 	std::string zmq_endpoint;
+	std::string body_zmq_endpoint;
 };
 
 [[nodiscard]]
@@ -73,6 +75,7 @@ std::expected<ResolvedInputEndpoints, std::string> resolve_input_endpoints(const
 			return ResolvedInputEndpoints{
 				.shm_name = target.shm_name,
 				.zmq_endpoint = target.zmq_addr,
+				.body_zmq_endpoint = target.zmq_body_addr,
 			};
 	} catch (const std::exception &e) {
 		return std::unexpected(std::string("invalid cvmmap input URI: ") + e.what());
@@ -235,6 +238,14 @@ std::expected<record::RawDepthMapView, std::string> make_depth_map_view(const ip
 	};
 }
 
+[[nodiscard]]
+std::uint64_t body_tracking_timestamp_ns(const cvmmap::body_tracking_frame_t &frame) {
+	if (frame.header.timestamp_ns != 0) {
+		return frame.header.timestamp_ns;
+	}
+	return frame.header.sdk_timestamp_ns;
+}
+
 [[nodiscard]]
 Status publish_access_units(
 	const RuntimeConfig &config,
@@ -354,13 +365,24 @@ int run_pipeline(const RuntimeConfig &config) {
 	zmq::socket_t subscriber(zmq_ctx, zmq::socket_type::sub);
 	try {
 		subscriber.set(zmq::sockopt::subscribe, "");
-		subscriber.set(zmq::sockopt::rcvtimeo, 20);
 		subscriber.connect(input_endpoints->zmq_endpoint);
 	} catch (const zmq::error_t &e) {
 		spdlog::error("pipeline subscribe failed on '{}': {}", input_endpoints->zmq_endpoint, e.what());
 		return exit_code(PipelineExitCode::SubscriberError);
 	}
 
+	std::optional<zmq::socket_t> body_subscriber{};
+	if (config.record.mcap.enabled) {
+		try {
+			body_subscriber.emplace(zmq_ctx, zmq::socket_type::sub);
+			body_subscriber->set(zmq::sockopt::subscribe, "");
+			body_subscriber->connect(input_endpoints->body_zmq_endpoint);
+		} catch (const zmq::error_t &e) {
+			spdlog::error("pipeline body subscribe failed on '{}': {}", input_endpoints->body_zmq_endpoint, e.what());
+			return exit_code(PipelineExitCode::SubscriberError);
+		}
+	}
+
 	std::optional<protocol::UdpRtpPublisher> rtp_publisher{};
 	std::optional<protocol::RtmpOutput> rtmp_output{};
 	std::optional<record::McapRecordSink> mcap_sink{};
@@ -464,9 +486,22 @@ int run_pipeline(const RuntimeConfig &config) {
 			restart_backend(reason, active_info);
 		}
 
-		zmq::message_t message;
-		const auto recv_result = subscriber.recv(message, zmq::recv_flags::none);
-		if (!recv_result) {
+		std::array<zmq::pollitem_t, 2> poll_items{{
+			{subscriber.handle(), 0, ZMQ_POLLIN, 0},
+			{body_subscriber ? body_subscriber->handle() : nullptr, 0, ZMQ_POLLIN, 0},
+		}};
+		try {
+			zmq::poll(poll_items, std::chrono::milliseconds{20});
+		} catch (const zmq::error_t &e) {
+			spdlog::error("pipeline poll failed: {}", e.what());
+			return exit_code(PipelineExitCode::SubscriberError);
+		}
+
+		const bool frame_socket_ready = (poll_items[0].revents & ZMQ_POLLIN) != 0;
+		const bool body_socket_ready =
+			body_subscriber.has_value() &&
+			(poll_items[1].revents & ZMQ_POLLIN) != 0;
+		if (!frame_socket_ready && !body_socket_ready) {
 			const auto now = std::chrono::steady_clock::now();
 			if (restart_pending && restart_target_info) {
 				auto start_result = attempt_backend_start(*restart_target_info);
@@ -497,6 +532,53 @@ int run_pipeline(const RuntimeConfig &config) {
 			continue;
 		}
 
+		if (body_socket_ready && body_subscriber) {
+			while (true) {
+				zmq::message_t body_message;
+				const auto recv_body = body_subscriber->recv(body_message, zmq::recv_flags::dontwait);
+				if (!recv_body) {
+					break;
+				}
+
+				last_event = std::chrono::steady_clock::now();
+				auto body_bytes = std::span<const std::uint8_t>(
+					static_cast<const std::uint8_t *>(body_message.data()),
+					body_message.size());
+				if (body_bytes.empty()) {
+					continue;
+				}
+					if (!mcap_sink) {
+						continue;
+					}
+
+				auto parsed_body = cvmmap::parse_body_tracking_message(body_bytes);
+				if (!parsed_body) {
+					spdlog::warn("pipeline body packet parse error: {}", parsed_body.error());
+					continue;
+				}
+
+				auto write_body = mcap_sink->write_body_tracking_message(record::RawBodyTrackingMessageView{
+					.timestamp_ns = body_tracking_timestamp_ns(*parsed_body),
+					.bytes = body_bytes,
+				});
+				if (!write_body) {
+					const auto reason = "pipeline body MCAP write failed: " + write_body.error();
+					restart_backend(reason, active_info);
+					break;
+				}
+			}
+		}
+
+		if (!frame_socket_ready) {
+			continue;
+		}
+
+		zmq::message_t message;
+		const auto recv_result = subscriber.recv(message, zmq::recv_flags::dontwait);
+		if (!recv_result) {
+			continue;
+		}
+
 		last_event = std::chrono::steady_clock::now();
 		auto bytes = std::span<const std::uint8_t>(
 			static_cast<const std::uint8_t *>(message.data()),

src/record/mcap_record_sink.cpp

@@ -27,6 +27,7 @@ namespace {
 
 constexpr float kRvlDepthQuantization = 200.0f;
 constexpr float kMinDepthMaxMeters = 20.0f;
+constexpr std::string_view kBodyTrackingMessageEncoding = "cvmmap.body_tracking.v1";
 
 [[nodiscard]]
 std::string codec_format(CodecType codec) {
@@ -60,6 +61,15 @@ mcap::Compression to_mcap_compression(McapCompression compression) {
 	}
 }
 
+[[nodiscard]]
+mcap::KeyValueMap body_channel_metadata() {
+	return mcap::KeyValueMap{
+		{"packet_layout", "cvmmap_body_tracking_v1"},
+		{"payload_format", "raw"},
+		{"source_transport", "cv-mmap-body-pub"},
+	};
+}
+
 [[nodiscard]]
 google::protobuf::Timestamp to_proto_timestamp(std::uint64_t timestamp_ns) {
 	google::protobuf::Timestamp timestamp{};
@@ -317,10 +327,13 @@ struct McapRecordSink::State {
 	mcap::McapWriter writer{};
 	std::string path{};
 	std::string frame_id{};
+	std::string body_topic{};
 	mcap::ChannelId video_channel_id{0};
 	mcap::ChannelId depth_channel_id{0};
+	mcap::ChannelId body_channel_id{0};
 	std::uint32_t video_sequence{0};
 	std::uint32_t depth_sequence{0};
+	std::uint32_t body_sequence{0};
 	CodecType codec{CodecType::H264};
 	std::vector<std::uint8_t> keyframe_preamble{};
 };
@@ -350,6 +363,7 @@ std::expected<McapRecordSink, std::string> McapRecordSink::create(
 	auto state = std::make_unique<State>();
 	state->path = config.record.mcap.path;
 	state->frame_id = config.record.mcap.frame_id;
+	state->body_topic = config.record.mcap.body_topic;
 
 	mcap::McapWriterOptions options("");
 	options.compression = to_mcap_compression(config.record.mcap.compression);
@@ -488,6 +502,39 @@ std::expected<void, std::string> McapRecordSink::write_depth_map(const RawDepthM
 	return {};
 }
 
+std::expected<void, std::string> McapRecordSink::write_body_tracking_message(const RawBodyTrackingMessageView &body_message) {
+	if (state_ == nullptr) {
+		return std::unexpected("MCAP sink is not open");
+	}
+	if (body_message.bytes.empty()) {
+		return std::unexpected("body tracking payload is empty");
+	}
+
+	if (state_->body_channel_id == 0) {
+		mcap::Channel body_channel(
+			state_->body_topic,
+			kBodyTrackingMessageEncoding,
+			0,
+			body_channel_metadata());
+		state_->writer.addChannel(body_channel);
+		state_->body_channel_id = body_channel.id;
+	}
+
+	mcap::Message record{};
+	record.channelId   = state_->body_channel_id;
+	record.sequence    = state_->body_sequence++;
+	record.logTime     = body_message.timestamp_ns;
+	record.publishTime = body_message.timestamp_ns;
+	record.data        = reinterpret_cast<const std::byte *>(body_message.bytes.data());
+	record.dataSize    = body_message.bytes.size();
+
+	const auto write_status = state_->writer.write(record);
+	if (!write_status.ok()) {
+		return std::unexpected("failed to write MCAP body message: " + write_status.message);
+	}
+	return {};
+}
+
 bool McapRecordSink::is_open() const {
 	return state_ != nullptr;
 }

src/testers/mcap_body_inspector.cpp

@@ -0,0 +1,213 @@
+#include <mcap/reader.hpp>
+
+#include <cvmmap/parser.hpp>
+
+#include <CLI/CLI.hpp>
+#include <spdlog/spdlog.h>
+
+#include <algorithm>
+#include <cstdint>
+#include <expected>
+#include <limits>
+#include <map>
+#include <optional>
+#include <span>
+#include <string>
+#include <string_view>
+#include <vector>
+
+namespace {
+
+enum class InspectorExitCode : int {
+	Success = 0,
+	OpenError = 2,
+	SchemaError = 3,
+	ParseError = 4,
+	Empty = 5,
+};
+
+[[nodiscard]]
+constexpr int exit_code(InspectorExitCode code) {
+	return static_cast<int>(code);
+}
+
+struct Config {
+	std::string input_path{};
+	std::string topic{"/camera/body"};
+	std::uint32_t sample_limit{3};
+};
+
+struct Sample {
+	std::uint32_t frame_count{0};
+	std::uint64_t timestamp_ns{0};
+	std::uint16_t body_count{0};
+};
+
+struct Summary {
+	std::uint64_t message_count{0};
+	std::uint64_t parsed_count{0};
+	std::uint64_t total_bodies{0};
+	std::uint64_t nonzero_messages{0};
+	std::uint64_t parse_errors{0};
+	std::uint64_t min_timestamp_ns{std::numeric_limits<std::uint64_t>::max()};
+	std::uint64_t max_timestamp_ns{0};
+	std::uint32_t min_frame_count{std::numeric_limits<std::uint32_t>::max()};
+	std::uint32_t max_frame_count{0};
+	std::optional<std::string> message_encoding{};
+	std::optional<std::string> schema_name{};
+	std::map<std::uint16_t, std::uint64_t> body_count_histogram{};
+	std::vector<Sample> samples{};
+};
+
+[[nodiscard]]
+std::expected<Config, int> parse_args(int argc, char **argv) {
+	Config config{};
+	CLI::App app{"mcap_body_inspector - summarize raw cvmmap body packets stored in MCAP"};
+	app.add_option("input", config.input_path, "Input MCAP path")->required();
+	app.add_option("--topic", config.topic, "Body topic to inspect");
+	app.add_option("--sample-limit", config.sample_limit, "Number of non-zero body packets to sample")
+		->check(CLI::NonNegativeNumber);
+
+	try {
+		app.parse(argc, argv);
+	} catch (const CLI::ParseError &e) {
+		return std::unexpected(app.exit(e));
+	}
+	return config;
+}
+
+[[nodiscard]]
+std::string_view schema_name_or_none(const std::optional<std::string> &schema_name) {
+	return schema_name ? std::string_view(*schema_name) : std::string_view("none");
+}
+
+std::expected<Summary, InspectorExitCode> inspect_file(const Config &config) {
+	mcap::McapReader reader{};
+	const auto open_status = reader.open(config.input_path);
+	if (!open_status.ok()) {
+		spdlog::error("failed to open MCAP file '{}': {}", config.input_path, open_status.message);
+		return std::unexpected(InspectorExitCode::OpenError);
+	}
+
+	Summary summary{};
+	auto messages = reader.readMessages();
+	for (auto it = messages.begin(); it != messages.end(); ++it) {
+		if (it->channel == nullptr) {
+			spdlog::error("MCAP body message missing channel metadata");
+			reader.close();
+			return std::unexpected(InspectorExitCode::SchemaError);
+		}
+		if (it->channel->topic != config.topic) {
+			continue;
+		}
+
+		summary.message_count += 1;
+		if (!summary.message_encoding) {
+			summary.message_encoding = it->channel->messageEncoding;
+		}
+		if (!summary.schema_name) {
+			summary.schema_name = it->schema ? std::optional<std::string>(it->schema->name) : std::nullopt;
+		}
+
+		auto bytes = std::span<const std::uint8_t>(
+			reinterpret_cast<const std::uint8_t *>(it->message.data),
+			it->message.dataSize);
+		auto parsed = cvmmap::parse_body_tracking_message(bytes);
+		if (!parsed) {
+			summary.parse_errors += 1;
+			spdlog::warn("body packet parse error at logTime={}: {}", it->message.logTime, parsed.error());
+			continue;
+		}
+
+		summary.parsed_count += 1;
+		summary.total_bodies += parsed->bodies.size();
+		const auto body_count = parsed->header.body_count;
+		summary.body_count_histogram[body_count] += 1;
+		if (body_count > 0) {
+			summary.nonzero_messages += 1;
+			if (summary.samples.size() < config.sample_limit) {
+				summary.samples.push_back(Sample{
+					.frame_count = parsed->header.frame_count,
+					.timestamp_ns = parsed->header.timestamp_ns,
+					.body_count = body_count,
+				});
+			}
+		}
+
+		summary.min_timestamp_ns = std::min(summary.min_timestamp_ns, parsed->header.timestamp_ns);
+		summary.max_timestamp_ns = std::max(summary.max_timestamp_ns, parsed->header.timestamp_ns);
+		summary.min_frame_count = std::min(summary.min_frame_count, parsed->header.frame_count);
+		summary.max_frame_count = std::max(summary.max_frame_count, parsed->header.frame_count);
+	}
+
+	reader.close();
+	if (summary.message_count == 0) {
+		spdlog::error("no body messages found on topic '{}'", config.topic);
+		return std::unexpected(InspectorExitCode::Empty);
+	}
+	return summary;
+}
+
+void print_summary(const Config &config, const Summary &summary) {
+	spdlog::info("body topic: {}", config.topic);
+	spdlog::info(
+		"messages={} parsed={} parse_errors={} encoding={} schema={}",
+		summary.message_count,
+		summary.parsed_count,
+		summary.parse_errors,
+		summary.message_encoding.value_or("<unknown>"),
+		schema_name_or_none(summary.schema_name));
+	spdlog::info(
+		"nonzero_messages={} total_bodies={} avg_bodies_per_message={:.3f}",
+		summary.nonzero_messages,
+		summary.total_bodies,
+		summary.parsed_count > 0
+			? static_cast<double>(summary.total_bodies) / static_cast<double>(summary.parsed_count)
+			: 0.0);
+	if (summary.parsed_count > 0) {
+		spdlog::info(
+			"frame_count_range=[{}, {}] timestamp_range_ns=[{}, {}]",
+			summary.min_frame_count,
+			summary.max_frame_count,
+			summary.min_timestamp_ns,
+			summary.max_timestamp_ns);
+	}
+
+	std::string histogram{};
+	for (const auto &[body_count, message_count] : summary.body_count_histogram) {
+		if (!histogram.empty()) {
+			histogram += ", ";
+		}
+		histogram += std::to_string(body_count);
+		histogram += "=>";
+		histogram += std::to_string(message_count);
+	}
+	spdlog::info("body_count_histogram: {}", histogram.empty() ? "<empty>" : histogram);
+
+	for (std::size_t index = 0; index < summary.samples.size(); ++index) {
+		const auto &sample = summary.samples[index];
+		spdlog::info(
+			"sample[{}]: frame_count={} timestamp_ns={} body_count={}",
+			index,
+			sample.frame_count,
+			sample.timestamp_ns,
+			sample.body_count);
+	}
+}
+
+}
+
+int main(int argc, char **argv) {
+	auto config = parse_args(argc, argv);
+	if (!config) {
+		return config.error();
+	}
+
+	auto summary = inspect_file(*config);
+	if (!summary) {
+		return exit_code(summary.error());
+	}
+
+	print_summary(*config, *summary);
+	return exit_code(InspectorExitCode::Success);
+}

src/testers/mcap_body_record_tester.cpp

@@ -0,0 +1,238 @@
+#include <mcap/reader.hpp>
+
+#include <cvmmap/ipc.hpp>
+#include <cvmmap/parser.hpp>
+
+#include "cvmmap_streamer/common.h"
+#include "cvmmap_streamer/record/mcap_record_sink.hpp"
+#include "foxglove/CompressedVideo.pb.h"
+
+#include <spdlog/spdlog.h>
+
+#include <cstdint>
+#include <cstring>
+#include <filesystem>
+#include <string_view>
+#include <vector>
+
+namespace {
+
+constexpr std::string_view kBodyTopic = "/camera/body";
+constexpr std::string_view kBodyEncoding = "cvmmap.body_tracking.v1";
+
+enum class TesterExitCode : int {
+	Success = 0,
+	CreateError = 2,
+	WriteError = 3,
+	OpenError = 4,
+	VerificationError = 5,
+};
+
+[[nodiscard]]
+constexpr int exit_code(TesterExitCode code) {
+	return static_cast<int>(code);
+}
+
+[[nodiscard]]
+std::vector<std::uint8_t> serialize_body_tracking_frame(const cvmmap::body_tracking_frame_t &frame) {
+	auto header = frame.header;
+	header._magic = cvmmap::BODY_TRACKING_MAGIC;
+	header.versions_major = cvmmap::VERSION_MAJOR;
+	header.versions_minor = cvmmap::VERSION_MINOR;
+	header.body_count = static_cast<std::uint16_t>(frame.bodies.size());
+	header.body_record_size = sizeof(cvmmap::body_tracking_body_t);
+	header.payload_size_bytes = static_cast<std::uint32_t>(
+		frame.bodies.size() * sizeof(cvmmap::body_tracking_body_t));
+
+	std::vector<std::uint8_t> bytes(
+		sizeof(cvmmap::body_tracking_message_header_t) + header.payload_size_bytes,
+		static_cast<std::uint8_t>(0));
+	std::memcpy(bytes.data(), &header, sizeof(header));
+	if (!frame.bodies.empty()) {
+		std::memcpy(
+			bytes.data() + sizeof(header),
+			frame.bodies.data(),
+			header.payload_size_bytes);
+	}
+	return bytes;
+}
+
+}
+
+int main(int argc, char **argv) {
+	if (cvmmap_streamer::has_help_flag(argc, argv)) {
+		cvmmap_streamer::print_help("mcap_body_record_tester");
+		return exit_code(TesterExitCode::Success);
+	}
+
+	const std::filesystem::path output_path =
+		argc > 1
+			? std::filesystem::path(argv[1])
+			: std::filesystem::temp_directory_path() / "cvmmap_streamer_body_record_test.mcap";
+	if (output_path.has_parent_path()) {
+		std::filesystem::create_directories(output_path.parent_path());
+	}
+
+	cvmmap_streamer::RuntimeConfig config = cvmmap_streamer::RuntimeConfig::defaults();
+	config.record.mcap.enabled = true;
+	config.record.mcap.path = output_path.string();
+	config.record.mcap.topic = "/camera/video";
+	config.record.mcap.depth_topic = "/camera/depth";
+	config.record.mcap.body_topic = std::string(kBodyTopic);
+	config.record.mcap.frame_id = "camera";
+	config.record.mcap.compression = cvmmap_streamer::McapCompression::None;
+
+	cvmmap_streamer::encode::EncodedStreamInfo stream_info{};
+	stream_info.codec = cvmmap_streamer::CodecType::H264;
+
+	auto sink = cvmmap_streamer::record::McapRecordSink::create(config, stream_info);
+	if (!sink) {
+		spdlog::error("failed to create MCAP sink: {}", sink.error());
+		return exit_code(TesterExitCode::CreateError);
+	}
+
+	cvmmap_streamer::encode::EncodedAccessUnit access_unit{};
+	access_unit.codec = cvmmap_streamer::CodecType::H264;
+	access_unit.source_timestamp_ns = 10;
+	access_unit.stream_pts_ns = 10;
+	access_unit.keyframe = false;
+	access_unit.annexb_bytes = {0x00, 0x00, 0x00, 0x01, 0x09, 0x10};
+	if (auto write = sink->write_access_unit(access_unit); !write) {
+		spdlog::error("failed to write video access unit: {}", write.error());
+		return exit_code(TesterExitCode::WriteError);
+	}
+
+	cvmmap::body_tracking_frame_t body_frame{};
+	body_frame.header.frame_count = 17;
+	body_frame.header.timestamp_ns = 123456789ull;
+	body_frame.header.sdk_timestamp_ns = 123456700ull;
+	body_frame.header.body_format = cvmmap::BodyFormat::Body38;
+	body_frame.header.body_selection = cvmmap::BodyKeypointSelection::Full;
+	body_frame.header.detection_model = cvmmap::BodyTrackingModel::HumanBodyAccurate;
+	body_frame.header.inference_precision = cvmmap::InferencePrecision::FP32;
+	body_frame.header.set_coordinate_system(cvmmap::BodyCoordinateSystem::RightHandedYUp);
+	body_frame.header.set_reference_frame(cvmmap::BodyReferenceFrame::World);
+	body_frame.header.set_floor_as_origin(true);
+
+	cvmmap::body_tracking_body_t body{};
+	body.id = 42;
+	body.confidence = 88.0f;
+	body.position = {1.0f, 2.0f, 3.0f};
+	body.keypoint_count = cvmmap::BODY_KEYPOINT_CAPACITY;
+	body.keypoint_3d[0] = {0.1f, 0.2f, 0.3f};
+	body.keypoint_confidence[0] = 95.0f;
+	body_frame.bodies.push_back(body);
+
+	const auto body_bytes = serialize_body_tracking_frame(body_frame);
+	if (auto write = sink->write_body_tracking_message(cvmmap_streamer::record::RawBodyTrackingMessageView{
+			.timestamp_ns = body_frame.header.timestamp_ns,
+			.bytes = body_bytes,
+		}); !write) {
+		spdlog::error("failed to write body tracking packet: {}", write.error());
+		return exit_code(TesterExitCode::WriteError);
+	}
+
+	sink->close();
+
+	mcap::McapReader reader{};
+	const auto open_status = reader.open(output_path.string());
+	if (!open_status.ok()) {
+		spdlog::error("failed to open MCAP file '{}': {}", output_path.string(), open_status.message);
+		return exit_code(TesterExitCode::OpenError);
+	}
+
+	std::uint64_t video_messages{0};
+	std::uint64_t body_messages{0};
+
+	auto messages = reader.readMessages();
+	for (auto it = messages.begin(); it != messages.end(); ++it) {
+		if (it->channel == nullptr) {
+			spdlog::error("MCAP message missing channel metadata");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+
+		if (it->schema != nullptr && it->schema->name == "foxglove.CompressedVideo") {
+			foxglove::CompressedVideo video{};
+			if (!video.ParseFromArray(it->message.data, static_cast<int>(it->message.dataSize))) {
+				spdlog::error("failed to parse foxglove.CompressedVideo payload");
+				reader.close();
+				return exit_code(TesterExitCode::VerificationError);
+			}
+			if (it->channel->topic != "/camera/video" || video.frame_id() != "camera" || video.data().empty()) {
+				spdlog::error("video MCAP payload verification failed");
+				reader.close();
+				return exit_code(TesterExitCode::VerificationError);
+			}
+			video_messages += 1;
+			continue;
+		}
+
+		if (it->channel->topic != kBodyTopic) {
+			continue;
+		}
+		if (it->schema != nullptr) {
+			spdlog::error("body MCAP channel unexpectedly has a schema");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+		if (it->channel->messageEncoding != kBodyEncoding) {
+			spdlog::error("unexpected body MCAP message encoding: {}", it->channel->messageEncoding);
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+		if (it->channel->metadata.at("packet_layout") != "cvmmap_body_tracking_v1" ||
+			it->channel->metadata.at("payload_format") != "raw") {
+			spdlog::error("unexpected body MCAP channel metadata");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+
+		auto recorded_body = std::span<const std::uint8_t>(
+			reinterpret_cast<const std::uint8_t *>(it->message.data),
+			it->message.dataSize);
+		if (!std::equal(recorded_body.begin(), recorded_body.end(), body_bytes.begin(), body_bytes.end())) {
+			spdlog::error("body MCAP payload bytes differ from the original packet");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+		if (it->message.logTime != body_frame.header.timestamp_ns ||
+			it->message.publishTime != body_frame.header.timestamp_ns) {
+			spdlog::error("body MCAP timestamp verification failed");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+
+		auto parsed_body = cvmmap::parse_body_tracking_message(recorded_body);
+		if (!parsed_body) {
+			spdlog::error("recorded body MCAP payload could not be parsed: {}", parsed_body.error());
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+		if (parsed_body->header.frame_count != body_frame.header.frame_count ||
+			parsed_body->header.timestamp_ns != body_frame.header.timestamp_ns ||
+			!parsed_body->header.floor_as_origin() ||
+			parsed_body->bodies.size() != 1 ||
+			parsed_body->bodies.front().id != body.id) {
+			spdlog::error("parsed body MCAP payload verification failed");
+			reader.close();
+			return exit_code(TesterExitCode::VerificationError);
+		}
+		body_messages += 1;
+	}
+
+	reader.close();
+
+	if (video_messages != 1 || body_messages != 1) {
+		spdlog::error(
+			"unexpected message counts: video={} body={}",
+			video_messages,
+			body_messages);
+		return exit_code(TesterExitCode::VerificationError);
+	}
+
+	spdlog::info(
+		"validated same-file MCAP video+body recording at '{}'",
+		output_path.string());
+	return exit_code(TesterExitCode::Success);
+}

src/testers/mcap_reader_tester.cpp

@@ -89,11 +89,14 @@ int main(int argc, char **argv) {
 
 	auto message_view = reader.readMessages();
 	for (auto it = message_view.begin(); it != message_view.end(); ++it) {
-		if (it->schema == nullptr || it->channel == nullptr) {
-			spdlog::error("MCAP message missing schema or channel metadata");
+		if (it->channel == nullptr) {
+			spdlog::error("MCAP message missing channel metadata");
 			reader.close();
 			return exit_code(TesterExitCode::SchemaError);
 		}
+		if (it->schema == nullptr) {
+			continue;
+		}
 		if (it->schema->encoding != "protobuf" || it->schema->name != "foxglove.CompressedVideo") {
 			continue;
 		}

src/testers/mcap_replay_tester.cpp

@@ -97,11 +97,14 @@ std::expected<std::vector<ReplayMessage>, TesterExitCode> load_messages(const Co
 	std::vector<ReplayMessage> messages{};
 	auto view = reader.readMessages();
 	for (auto it = view.begin(); it != view.end(); ++it) {
-		if (it->schema == nullptr || it->channel == nullptr) {
-			spdlog::error("MCAP message missing schema or channel metadata");
+		if (it->channel == nullptr) {
+			spdlog::error("MCAP message missing channel metadata");
 			reader.close();
 			return std::unexpected(TesterExitCode::SchemaError);
 		}
+		if (it->schema == nullptr) {
+			continue;
+		}
 		if (it->schema->encoding != "protobuf" || it->schema->name != "foxglove.CompressedVideo") {
 			continue;
 		}