Export to MCAP / ROS 2

to_mcap.py converts any Trinet recording — single camera or stereo, rolling or global shutter, H.264 or H.265 — into one .mcap file with video, motion data, magnetometer, calibration and per-frame timing. Video frames are copied, not re-encoded.

python scripts/to_mcap.py /data/recording3_1.mp4         # -> recording3_1.mcap
python scripts/to_mcap.py /data/take0004_L.mp4           # stereo take -> take0004.mcap

Option	Does
-o PATH	Output file
--calibration FILE	Use this calibration instead of the one embedded in the recording
--apply-timeshift	Shift camera timestamps by the calibrated camera–IMU time offset
--local-clock	Keep the camera's own clock instead of the kit's shared clock
--compression {zstd,lz4,none}	Chunk compression (default zstd)

Open the file in Foxglove or use it with ROS 2 tooling. Video is published as compressed video messages and motion data as standard IMU messages on one timeline.

Topic names, message types, timestamps and rolling-shutter row timing are listed in the toolkit's MCAP export reference.

Batch export

The SD-card ingest tool can write an MCAP per clip with --mcap.