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foxglove · Nov 26, 2024 · 3d83b9d · 3d83b9d
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commit 3d83b9d
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Showing 13 changed files with 180 additions and 44 deletions.
diff --git a/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap b/internal/__snapshots__/exportTypeScriptSchemas.test.ts.snap
@@ -210,10 +210,22 @@ export type CompressedVideo = {
   /**
    * Video format.
    * 
-   * Supported values:
-   * - \`h264\` (Annex B formatted data only)
-   * - \`h265\` (HEVC; Annex B formatted data only)
-   * - \`av1\` (Low overhead bitstream format)
+   * Supported formats:
+   * 
+   * - \`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 a SPS NAL unit
+   * 
+   * - \`h265\` (HEVC)
+   *   - 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 (IRAP) must also include relevant VPS/SPS/PPS NAL units
+   * 
+   * - \`av1\`
+   *   - Use the "Low overhead bitstream format" (section 5.2)
+   *   - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+   *   - Each message containing a key frame must also include a Sequence Header OBU
    */
   format: string;
 };

diff --git a/internal/schemas.ts b/internal/schemas.ts
@@ -816,8 +816,24 @@ const CompressedVideo: FoxgloveMessageSchema = {
     {
       name: "format",
       type: { type: "primitive", name: "string" },
-      description:
-        "Video format.\n\nSupported values:\n- `h264` (Annex B formatted data only)\n- `h265` (HEVC; Annex B formatted data only)\n- `av1` (Low overhead bitstream format)",
+      description: `Video format.
+
+Supported formats:
+
+- \`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 a SPS NAL unit
+
+- \`h265\` (HEVC)
+  - 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 (IRAP) must also include relevant VPS/SPS/PPS NAL units
+
+- \`av1\`
+  - Use the "Low overhead bitstream format" (section 5.2)
+  - Each CompressedVideo message should contain enough OBUs to decode exactly one video frame
+  - Each message containing a key frame must also include a Sequence Header OBU`,
     },
   ],
 };

diff --git a/ros_foxglove_msgs/ros1/CompressedVideo.msg b/ros_foxglove_msgs/ros1/CompressedVideo.msg
diff --git a/ros_foxglove_msgs/ros2/CompressedVideo.msg b/ros_foxglove_msgs/ros2/CompressedVideo.msg
diff --git a/schemas/README.md b/schemas/README.md
diff --git a/schemas/flatbuffer/CompressedVideo.fbs b/schemas/flatbuffer/CompressedVideo.fbs
diff --git a/schemas/jsonschema/CompressedVideo.json b/schemas/jsonschema/CompressedVideo.json
diff --git a/schemas/jsonschema/index.ts b/schemas/jsonschema/index.ts
diff --git a/schemas/omgidl/foxglove/CompressedVideo.idl b/schemas/omgidl/foxglove/CompressedVideo.idl
diff --git a/schemas/proto/foxglove/CompressedVideo.proto b/schemas/proto/foxglove/CompressedVideo.proto
diff --git a/schemas/ros1/CompressedVideo.msg b/schemas/ros1/CompressedVideo.msg
diff --git a/schemas/ros2/CompressedVideo.msg b/schemas/ros2/CompressedVideo.msg
diff --git a/schemas/typescript/CompressedVideo.ts b/schemas/typescript/CompressedVideo.ts