CompressedVideo

A single frame of a compressed video bitstream.

Panel support

CompressedVideo is used in the 3D and Image panels.

Field	Type	Description
`timestamp`	`time`	Timestamp of the video frame.
`frame_id`	`string`	Frame of reference for the video. The origin is the optical center of the camera. +X points right, +Y points down, and +Z points into the plane.
`data`	`bytes`	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: Lichtblick does not support video streams that include B frames because they require lookahead.
`format`	`string`	Video format. Supported value: `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 an SPS NAL unit.

Note: Compressed video support is subject to hardware limitations and patent licensing, so not all encodings may be supported on all platforms.

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`