feat(streamer): add ffmpeg encoder and mcap recording

2026-03-10 22:12:22 +08:00
parent 769d36f86f
commit 6af97ee5d3
86 changed files with 30551 additions and 1482 deletions
@@ -0,0 +1,50 @@
+// Generated by https://github.com/foxglove/foxglove-sdk
+
+syntax = "proto3";
+
+import "google/protobuf/timestamp.proto";
+
+package foxglove;
+
+// A single frame of a compressed video bitstream
+message CompressedVideo {
+  // Timestamp of video frame
+  google.protobuf.Timestamp timestamp = 1;
+
+  // Frame of reference for the video.
+  // 
+  // The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
+  string frame_id = 2;
+
+  // Compressed video frame data.
+  // 
+  // For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
+  // 
+  // Specifically, the requirements for different `format` values are:
+  // 
+  // - `h264`
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IDR) must also include a SPS NAL unit
+  // 
+  // - `h265` (HEVC)
+  //   - Use Annex B formatted data
+  //   - Each CompressedVideo message should contain enough NAL units to decode exactly one video frame
+  //   - Each message containing a key frame (IRAP) must also include relevant VPS/SPS/PPS NAL units
+  // 
+  // - `vp9`
+  //   - Each CompressedVideo message should contain exactly one video frame
+  // 
+  // - `av1`
+  //   - Use the "Low overhead bitstream format" (section 5.2)
+  //   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  //   - Each message containing a key frame must also include a Sequence Header OBU
+  bytes data = 3;
+
+  // Video format.
+  // 
+  // Supported values: `h264`, `h265`, `vp9`, `av1`.
+  // 
+  // Note: compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms. See more about [H.265 support](https://caniuse.com/hevc), [VP9 support](https://caniuse.com/webm), and [AV1 support](https://caniuse.com/av1).
+  string format = 4;
+}