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-XXXXXXXX, where XXXXXXXX is the device's 8-character code — the same
string the companion app shows as the device name.
USB recording is fully supported on firmware 1.0.4 and later. On older firmware, USB-C is power only — upgrade via OTA firmware upgrade.
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 IMU streams at 200 Hz on EGO1 and ≈470 Hz on EGO1GS — the two variants use different IMUs, so read the rate from the data rather than assuming one.
| 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/audio/0 | foxglove.RawAudio | Stereo microphone audio — EGO1GS only |
/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 |
Recordings also carry the device's calibration (camera intrinsics, stereo and camera–IMU extrinsics, IMU info) on five additional topics, republished at ~1 Hz — see Calibration data for the topic list and exactly what to expect from the values.
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.