CompressedVideo
A single frame of a compressed video bitstream
Schema
| field | type | description |
|---|---|---|
timestamp | time | Timestamp of video frame |
frame_id | string | Frame of reference for the video. |
data | bytes | Compressed video frame data. |
format | string | Video format. |
frame_id
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.
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.
format
Supported values: h264 (Annex B formatted data only)
Reference implementations
Foxglove schemas are framework-agnostic, and can be implemented using any supported message encoding:
| encoding | schema |
|---|---|
| ROS 1 | foxglove_msgs/CompressedVideo |
| ROS 2 | foxglove_msgs/msg/CompressedVideo |
| JSON | foxglove.CompressedVideo |
| Protobuf | foxglove.CompressedVideo |
| FlatBuffers | foxglove.CompressedVideo |
| OMG IDL | foxglove::CompressedVideo |
You must use the schema names specified above for Foxglove to recognize the schema.