PlotJuggler
diff --git a/‎.clang-format‎
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diff --git a/‎.pre-commit-config.yaml‎
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diff --git a/‎docs/builtin_type.md‎
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diff --git a/‎pj_base/CMakeLists.txt‎
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diff --git a/‎pj_base/include/pj_base/builtin/asset_video.hpp‎
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diff --git a/‎pj_base/include/pj_base/builtin/asset_video_codec.hpp‎
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diff --git a/‎…nclude/pj_base/builtin/BuiltinObject.hpp‎ ‎…clude/pj_base/builtin/builtin_object.hpp‎pj_base/include/pj_base/builtin/BuiltinObject.hpp renamed to pj_base/include/pj_base/builtin/builtin_object.hpp
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diff --git a/‎pj_base/include/pj_base/builtin/compressed_point_cloud.hpp‎
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diff --git a/‎pj_base/include/pj_base/builtin/compressed_point_cloud_codec.hpp‎
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diff --git a/‎…e/include/pj_base/builtin/DepthImage.hpp‎ ‎…/include/pj_base/builtin/depth_image.hpp‎pj_base/include/pj_base/builtin/DepthImage.hpp renamed to pj_base/include/pj_base/builtin/depth_image.hpp
Lines changed: 1 addition & 1 deletion b/‎…e/include/pj_base/builtin/DepthImage.hpp‎ ‎…/include/pj_base/builtin/depth_image.hpp‎pj_base/include/pj_base/builtin/DepthImage.hpp renamed to pj_base/include/pj_base/builtin/depth_image.hpp
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@@ -21,3 +21,10 @@ AlignAfterOpenBracket: AlwaysBreak
 AllowShortBlocksOnASingleLine: Empty
 AllowShortFunctionsOnASingleLine: Empty
 AllowShortIfStatementsOnASingleLine: Never
+
+---
+# Same column limit and indent as C++ for the protobuf schemas under pj_base/proto/.
+Language: Proto
+BasedOnStyle: Google
+ColumnLimit: 120
+IndentWidth: 2
@@ -17,6 +17,7 @@ repos:
       - id: check-xml
       - id: check-yaml
         exclude: .gitlab-ci.yml
+        args: ['--allow-multiple-documents']
       - id: debug-statements
       - id: end-of-file-fixer
         exclude_types: [svg]
@@ -30,5 +31,5 @@ repos:
     rev: v22.1.0
     hooks:
       - id: clang-format
-        types_or: [c++, c]
+        types_or: [c++, c, proto]
         args: ['-fallback-style=none', '-i']
@@ -3,8 +3,17 @@
 # ---------------------------------------------------------------------------
 
 add_library(pj_base STATIC
+  src/builtin/asset_video_codec.cpp
+  src/builtin/compressed_point_cloud_codec.cpp
+  src/builtin/depth_image_codec.cpp
   src/builtin/frame_transforms_codec.cpp
   src/builtin/image_annotations_codec.cpp
+  src/builtin/image_codec.cpp
+  src/builtin/mesh3d_codec.cpp
+  src/builtin/occupancy_grid_codec.cpp
+  src/builtin/point_cloud_codec.cpp
+  src/builtin/scene_entities_codec.cpp
+  src/builtin/video_frame_codec.cpp
   src/type_tree.cpp
 )
 target_include_directories(pj_base PUBLIC
@@ -63,6 +72,15 @@ if(PJ_BUILD_TESTS)
     tests/image_annotations_decoder_test.cpp
     tests/media_metadata_test.cpp
     tests/push_message_v2_test.cpp
+    tests/image_codec_test.cpp
+    tests/depth_image_codec_test.cpp
+    tests/point_cloud_codec_test.cpp
+    tests/compressed_point_cloud_codec_test.cpp
+    tests/occupancy_grid_codec_test.cpp
+    tests/mesh3d_codec_test.cpp
+    tests/video_frame_codec_test.cpp
+    tests/scene_entities_codec_test.cpp
+    tests/asset_video_codec_test.cpp
   )
 
   foreach(test_src ${PJ_BASE_TESTS})
 
@@ -0,0 +1,60 @@
+/**
+ * @file asset_video.hpp
+ * @brief File-backed video reference + typed playback metadata.
+ *
+ * AssetVideo is the entry-point handle for video assets ingested by data
+ * loaders that point at an external media file (LeRobot datasets, MP4
+ * loaders, etc.). Producers push exactly one AssetVideo per topic; the
+ * ObjectStore timestamp of that entry equals `time_origin_ns` so timeline
+ * UIs naturally see the asset's start instant.
+ *
+ * Unlike VideoFrame (a single frame of a streamed payload), AssetVideo
+ * carries no pixel data — it references the file by path and surfaces
+ * decode-routing metadata (media type, dimensions, frame rate) without
+ * forcing the consumer to open the file just to size a playback window.
+ */
+// Copyright 2026 Davide Faconti
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstdint>
+#include <optional>
+#include <string>
+
+#include "pj_base/types.hpp"
+
+namespace PJ {
+namespace sdk {
+
+/// File-backed video reference with typed metadata.
+///
+/// `time_origin_ns` carries the wall-clock instant of the first frame.
+/// Consumers subtract this from a tracker time to derive a file-relative
+/// seek position. An absent value means the asset is not aligned to wall
+/// clock and should not advance with the tracker.
+///
+/// `duration_ns` is the total playable duration when known; absent means
+/// consumers may probe the file.
+///
+/// `media_type` is a MIME-type hint ("video/mp4", "video/x-matroska",
+/// "video/av1"). Empty string means "probe the file".
+///
+/// `width` / `height` are pixel dimensions; zero in either field means
+/// "unknown — probe the file".
+///
+/// `frame_rate` is nominal frames per second; zero or NaN means "unknown —
+/// probe the file". For variable-frame-rate video this is an advisory
+/// average; actual per-frame timestamps come from the decoder.
+struct AssetVideo {
+  std::optional<Timestamp> time_origin_ns;  ///< Wall-clock instant of the first frame.
+  std::optional<int64_t> duration_ns;       ///< Total playable duration in nanoseconds.
+  std::string file_path;                    ///< Absolute path or path relative to a consumer-known root.
+  std::string media_type;                   ///< MIME type. Empty string means "probe the file".
+  uint32_t width = 0;                       ///< Pixel width. 0 means unknown.
+  uint32_t height = 0;                      ///< Pixel height. 0 means unknown.
+  double frame_rate = 0.0;                  ///< Nominal frames per second. 0 or NaN means unknown.
+};
+
+}  // namespace sdk
+}  // namespace PJ
@@ -0,0 +1,24 @@
+#pragma once
+// Copyright 2026 Davide Faconti
+// SPDX-License-Identifier: MIT
+
+#include <cstddef>
+#include <cstdint>
+#include <string_view>
+#include <vector>
+
+#include "pj_base/builtin/asset_video.hpp"
+#include "pj_base/expected.hpp"
+
+namespace PJ {
+
+inline constexpr std::string_view kSchemaAssetVideo = "PJ.AssetVideo";
+
+/// Serializes sdk::AssetVideo to canonical PJ.AssetVideo wire bytes (see
+/// pj_base/proto/pj/AssetVideo.proto).
+[[nodiscard]] std::vector<uint8_t> serializeAssetVideo(const sdk::AssetVideo& asset);
+
+/// Decodes canonical PJ.AssetVideo wire bytes into sdk::AssetVideo.
+[[nodiscard]] Expected<sdk::AssetVideo> deserializeAssetVideo(const uint8_t* data, size_t size);
+
+}  // namespace PJ
@@ -1,5 +1,5 @@
 /**
- * @file BuiltinObject.h
+ * @file builtin_object.hpp
  * @brief Type-erased holder for any builtin object a MessageParser may produce.
  *
  * BuiltinObject is `std::any`. A producer constructs it by passing a
@@ -26,24 +26,36 @@
 #include <optional>
 #include <string_view>
 
-#include "pj_base/builtin/DepthImage.hpp"
-#include "pj_base/builtin/FrameTransforms.hpp"
-#include "pj_base/builtin/Image.hpp"
-#include "pj_base/builtin/ImageAnnotations.hpp"
-#include "pj_base/builtin/PointCloud.hpp"
+#include "pj_base/builtin/asset_video.hpp"
+#include "pj_base/builtin/compressed_point_cloud.hpp"
+#include "pj_base/builtin/depth_image.hpp"
+#include "pj_base/builtin/frame_transforms.hpp"
+#include "pj_base/builtin/image.hpp"
+#include "pj_base/builtin/image_annotations.hpp"
+#include "pj_base/builtin/mesh3d.hpp"
+#include "pj_base/builtin/occupancy_grid.hpp"
+#include "pj_base/builtin/point_cloud.hpp"
+#include "pj_base/builtin/robot_description.hpp"
+#include "pj_base/builtin/scene_entities.hpp"
+#include "pj_base/builtin/video_frame.hpp"
 
 namespace PJ {
 namespace sdk {
 
 enum class BuiltinObjectType : uint16_t {
   kNone = 0,
-  kImage = 1,             ///< sdk::Image — raw or compressed, distinguished by encoding string.
-  kPointCloud = 3,        ///< sdk::PointCloud — packed points + per-channel field layout.
-  kDepthImage = 4,        ///< sdk::DepthImage — depth pixels + camera intrinsics.
-  kImageAnnotations = 5,  ///< sdk::ImageAnnotations — 2D overlays (points, lines, text).
-  kFrameTransforms = 6,   ///< sdk::FrameTransforms — named 3D frame relationships.
-  // Reserved for future types; keep numeric values stable across releases.
-  // kOccupancyGrid  = 7,
+  kImage = 1,                 ///< sdk::Image — raw or compressed, distinguished by encoding string.
+  kPointCloud = 3,            ///< sdk::PointCloud — packed points + per-channel field layout.
+  kDepthImage = 4,            ///< sdk::DepthImage — depth pixels + camera intrinsics.
+  kImageAnnotations = 5,      ///< sdk::ImageAnnotations — 2D overlays (points, lines, text).
+  kFrameTransforms = 6,       ///< sdk::FrameTransforms — named 3D frame relationships.
+  kOccupancyGrid = 7,         ///< sdk::OccupancyGrid — 2D metric grid (maps, costmaps).
+  kCompressedPointCloud = 8,  ///< sdk::CompressedPointCloud — opaque compressed cloud (Draco, ...).
+  kMesh3D = 9,                ///< sdk::Mesh3D — binary mesh asset (GLTF/STL/PLY/OBJ/USD/DAE).
+  kVideoFrame = 10,           ///< sdk::VideoFrame — single frame of h264/h265/vp9/av1 stream.
+  kSceneEntities = 11,        ///< sdk::SceneEntities — procedural 3D scene primitives.
+  kAssetVideo = 12,           ///< sdk::AssetVideo — file-backed video reference + playback metadata.
+  kRobotDescription = 13,     ///< sdk::RobotDescription — raw URDF/SDF/MJCF text + format hint.
 };
 
 /// A-priori classification of a schema. Currently carries only the type;
@@ -68,6 +80,20 @@ struct SchemaClassification {
       return "kImageAnnotations";
     case BuiltinObjectType::kFrameTransforms:
       return "kFrameTransforms";
+    case BuiltinObjectType::kOccupancyGrid:
+      return "kOccupancyGrid";
+    case BuiltinObjectType::kCompressedPointCloud:
+      return "kCompressedPointCloud";
+    case BuiltinObjectType::kMesh3D:
+      return "kMesh3D";
+    case BuiltinObjectType::kVideoFrame:
+      return "kVideoFrame";
+    case BuiltinObjectType::kSceneEntities:
+      return "kSceneEntities";
+    case BuiltinObjectType::kAssetVideo:
+      return "kAssetVideo";
+    case BuiltinObjectType::kRobotDescription:
+      return "kRobotDescription";
   }
   return "kNone";
 }
@@ -93,6 +119,27 @@ struct SchemaClassification {
   if (s == "kFrameTransforms") {
     return BuiltinObjectType::kFrameTransforms;
   }
+  if (s == "kOccupancyGrid") {
+    return BuiltinObjectType::kOccupancyGrid;
+  }
+  if (s == "kCompressedPointCloud") {
+    return BuiltinObjectType::kCompressedPointCloud;
+  }
+  if (s == "kMesh3D") {
+    return BuiltinObjectType::kMesh3D;
+  }
+  if (s == "kVideoFrame") {
+    return BuiltinObjectType::kVideoFrame;
+  }
+  if (s == "kSceneEntities") {
+    return BuiltinObjectType::kSceneEntities;
+  }
+  if (s == "kAssetVideo") {
+    return BuiltinObjectType::kAssetVideo;
+  }
+  if (s == "kRobotDescription") {
+    return BuiltinObjectType::kRobotDescription;
+  }
   return std::nullopt;
 }
 
@@ -121,6 +168,27 @@ using BuiltinObject = std::any;
   if (t == typeid(FrameTransforms)) {
     return BuiltinObjectType::kFrameTransforms;
   }
+  if (t == typeid(OccupancyGrid)) {
+    return BuiltinObjectType::kOccupancyGrid;
+  }
+  if (t == typeid(CompressedPointCloud)) {
+    return BuiltinObjectType::kCompressedPointCloud;
+  }
+  if (t == typeid(Mesh3D)) {
+    return BuiltinObjectType::kMesh3D;
+  }
+  if (t == typeid(VideoFrame)) {
+    return BuiltinObjectType::kVideoFrame;
+  }
+  if (t == typeid(SceneEntities)) {
+    return BuiltinObjectType::kSceneEntities;
+  }
+  if (t == typeid(AssetVideo)) {
+    return BuiltinObjectType::kAssetVideo;
+  }
+  if (t == typeid(RobotDescription)) {
+    return BuiltinObjectType::kRobotDescription;
+  }
   return BuiltinObjectType::kNone;
 }
 
 
@@ -0,0 +1,41 @@
+/**
+ * @file compressed_point_cloud.hpp
+ * @brief Point cloud delivered in a compressed binary format (Draco, ...).
+ */
+// Copyright 2026 Davide Faconti
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+#include "pj_base/buffer_anchor.hpp"
+#include "pj_base/span.hpp"
+#include "pj_base/types.hpp"
+
+namespace PJ {
+namespace sdk {
+
+/// Point cloud delivered in a compressed binary format. Unlike PointCloud,
+/// the wire layout is opaque to PlotJuggler — `data` + `format` must be
+/// handed to the matching decoder library (e.g. Draco), which produces a
+/// decompressed point set on the host side.
+///
+/// This type is distinct from PointCloud because per-format decoders carry
+/// their own attribute table and layout semantics. Same reasoning that
+/// separates VideoFrame from Image.
+///
+/// `anchor` keeps the underlying buffer alive — the producer may have made
+/// `data` a view into the source payload (zero-copy) or into a freshly
+/// allocated vector; consumers don't need to know which.
+struct CompressedPointCloud {
+  Timestamp timestamp_ns = 0;
+  std::string frame_id;
+  std::string format;  ///< Codec identifier, lowercase. Recognized values include "draco".
+  Span<const uint8_t> data;
+  BufferAnchor anchor;
+};
+
+}  // namespace sdk
+}  // namespace PJ
@@ -0,0 +1,25 @@
+#pragma once
+// Copyright 2026 Davide Faconti
+// SPDX-License-Identifier: MIT
+
+#include <cstddef>
+#include <cstdint>
+#include <string_view>
+#include <vector>
+
+#include "pj_base/builtin/compressed_point_cloud.hpp"
+#include "pj_base/expected.hpp"
+
+namespace PJ {
+
+inline constexpr std::string_view kSchemaCompressedPointCloud = "PJ.CompressedPointCloud";
+
+/// Serializes sdk::CompressedPointCloud to canonical PJ.CompressedPointCloud
+/// wire bytes (see pj_base/proto/pj/CompressedPointCloud.proto).
+[[nodiscard]] std::vector<uint8_t> serializeCompressedPointCloud(const sdk::CompressedPointCloud& cloud);
+
+/// Decodes canonical PJ.CompressedPointCloud wire bytes. The returned object
+/// owns its bytes via `anchor`.
+[[nodiscard]] Expected<sdk::CompressedPointCloud> deserializeCompressedPointCloud(const uint8_t* data, size_t size);
+
+}  // namespace PJ
@@ -1,5 +1,5 @@
 /**
- * @file DepthImage.h
+ * @file depth_image.hpp
  * @brief Depth image with camera intrinsics.
  */
 // Copyright 2026 Davide Faconti