Data streams
This section is for engineers who want to work with EGO1 data directly in Python. It uses the command line. If you just want to capture and review recordings, the operator guide has everything you need.
Overview
EGO1 records in MCAP — a self-describing, open format with message schemas embedded in the file. Messages
are protobuf-encoded, and the data can be parsed with the open-source visio-schema Python package.
The same data is reachable over two channels:
| Channel | Form | Use |
|---|---|---|
| TCP (Wi-Fi) | 192.168.4.1:50001 over the device's Wi-Fi hotspot | Live stream over the hotspot |
| File (MCAP) | The .mcap files on the MicroSD card | Offline analysis |
Device / hotspot name: GILABS-XXXXXX (last 6 characters of the serial).
USB-C is currently power only — live access is over Wi-Fi (TCP) and recorded files come off the MicroSD card. USB data transfer is coming in an upcoming release.
Channels recorded
A recording multiplexes the topics below. Schemas are protobuf, embedded in the MCAP file. In a typical session the two cameras run at ~30 fps and the fused IMU quaternion at ~200 Hz.
| Topic | Schema | Contents |
|---|---|---|
/ego/camera/0 | foxglove.CompressedVideo | Camera 0 video (H.265), stereo pair |
/ego/camera/1 | foxglove.CompressedVideo | Camera 1 video (H.265), stereo pair |
/ego/imu/0/raw | visio_schema.v1.sensor.ImuRaw | Raw IMU samples (batched) |
/ego/imu/0/quat | visio_schema.v1.ros.geometry_msgs.Quaternion | Fused orientation quaternion |
/ego/system_health | visio_schema.v1.sensor.SystemHealth | Device health (CPU / disk / clients) |
/ego/command_result | visio_schema.v1.control.CommandResult | Result of a control command |
/device_info | visio_schema.v1.service.device_info.DeviceInfo | Device identifiers / info |
See the channel & network reference for the full quick-reference tables.
Next
- Install visio-schema — set up the Python package.
- visio-display CLI — record and visualize from the command line.