Add batch SVO to MP4 wrapper

.gitignore

@@ -56,6 +56,8 @@ compile_commands.json
 *.log
 *.bak
 *.swp
+__pycache__/
+.venv/
 
 # vcpkg
 vcpkg_installed/
@@ -70,4 +72,4 @@ Testing/
 # local evidence artifacts generated by standalone scripts
 .sisyphus/evidence/
 .sisyphus/evidence/*
-.sisyphus/boulder.json
+.sisyphus/boulder.json

pyproject.toml

@@ -0,0 +1,11 @@
+[project]
+name = "cvmmap-streamer-python-tools"
+version = "0.0.0"
+requires-python = ">=3.10"
+dependencies = [
+    "click>=8.1",
+    "tqdm>=4.66",
+]
+
+[tool.uv]
+package = false

scripts/zed_batch_svo_to_mp4.py

@@ -0,0 +1,361 @@
+#!/usr/bin/env python3
+
+from __future__ import annotations
+
+import concurrent.futures
+import os
+import subprocess
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Iterable
+
+import click
+from tqdm import tqdm
+
+
+SCRIPT_PATH = Path(__file__).resolve()
+REPO_ROOT = SCRIPT_PATH.parents[1]
+DEFAULT_PATTERNS = ("*.svo2",)
+SUPPORTED_SUFFIXES = {".svo", ".svo2"}
+
+
+@dataclass(slots=True, frozen=True)
+class BatchConfig:
+    zed_bin: Path
+    cuda_visible_devices: str | None
+    overwrite: bool
+    fail_fast: bool
+    codec: str
+    encoder_device: str
+    preset: str
+    tune: str
+    quality: int
+    gop: int
+    b_frames: int
+    start_frame: int
+    end_frame: int | None
+
+
+@dataclass(slots=True, frozen=True)
+class ConversionJob:
+    input_path: Path
+    output_path: Path
+
+
+@dataclass(slots=True, frozen=True)
+class JobResult:
+    status: str
+    input_path: Path
+    output_path: Path
+    command: tuple[str, ...]
+    return_code: int = 0
+    stdout: str = ""
+    stderr: str = ""
+
+
+def locate_binary(override: Path | None) -> Path:
+    if override is not None:
+        candidate = override.expanduser().resolve()
+        if not candidate.is_file():
+            raise click.ClickException(f"binary not found: {candidate}")
+        return candidate
+
+    candidates = (
+        REPO_ROOT / "build" / "bin" / "zed_svo_to_mp4",
+        REPO_ROOT / "build" / "zed_svo_to_mp4",
+    )
+    for candidate in candidates:
+        if candidate.is_file():
+            return candidate
+    raise click.ClickException(f"could not find zed_svo_to_mp4 under {REPO_ROOT / 'build'}")
+
+
+def discover_inputs(root: Path, patterns: Iterable[str], recursive: bool) -> list[Path]:
+    discovered: set[Path] = set()
+    for pattern in patterns:
+        iterator = root.rglob(pattern) if recursive else root.glob(pattern)
+        for path in iterator:
+            if path.is_file() and path.suffix.lower() in SUPPORTED_SUFFIXES:
+                discovered.add(path.absolute())
+    return sorted(discovered)
+
+
+def output_path_for(input_path: Path) -> Path:
+    if input_path.suffix:
+        return input_path.with_suffix(".mp4")
+    return input_path.with_name(f"{input_path.name}.mp4")
+
+
+def command_for_job(job: ConversionJob, config: BatchConfig) -> list[str]:
+    command = [
+        str(config.zed_bin),
+        "--input",
+        str(job.input_path),
+        "--codec",
+        config.codec,
+        "--encoder-device",
+        config.encoder_device,
+        "--preset",
+        config.preset,
+        "--tune",
+        config.tune,
+        "--quality",
+        str(config.quality),
+        "--gop",
+        str(config.gop),
+        "--b-frames",
+        str(config.b_frames),
+        "--start-frame",
+        str(config.start_frame),
+    ]
+    if config.end_frame is not None:
+        command.extend(["--end-frame", str(config.end_frame)])
+    return command
+
+
+def env_for_job(config: BatchConfig) -> dict[str, str]:
+    env = dict(os.environ)
+    if config.cuda_visible_devices is not None:
+        env["CUDA_VISIBLE_DEVICES"] = config.cuda_visible_devices
+    return env
+
+
+def run_conversion(job: ConversionJob, config: BatchConfig) -> JobResult:
+    command = command_for_job(job, config)
+    completed = subprocess.run(
+        command,
+        check=False,
+        capture_output=True,
+        text=True,
+        env=env_for_job(config),
+    )
+    status = "converted" if completed.returncode == 0 else "failed"
+    return JobResult(
+        status=status,
+        input_path=job.input_path,
+        output_path=job.output_path,
+        command=tuple(command),
+        return_code=completed.returncode,
+        stdout=completed.stdout,
+        stderr=completed.stderr,
+    )
+
+
+def summarize_failures(results: list[JobResult]) -> None:
+    failed_results = [result for result in results if result.status == "failed"]
+    if not failed_results:
+        return
+
+    click.echo("\nFailed conversions:", err=True)
+    for result in failed_results:
+        click.echo(f"- {result.input_path} (exit {result.return_code})", err=True)
+        if result.stderr.strip():
+            click.echo(result.stderr.rstrip(), err=True)
+        elif result.stdout.strip():
+            click.echo(result.stdout.rstrip(), err=True)
+
+
+def run_batch(jobs: list[ConversionJob], config: BatchConfig, jobs_limit: int) -> tuple[list[JobResult], int]:
+    results: list[JobResult] = []
+    aborted_count = 0
+    if not jobs:
+        return results, aborted_count
+
+    future_to_job: dict[concurrent.futures.Future[JobResult], ConversionJob] = {}
+    job_iter = iter(jobs)
+    stop_submitting = False
+
+    with concurrent.futures.ThreadPoolExecutor(max_workers=jobs_limit) as executor:
+        with tqdm(total=len(jobs), unit="file", dynamic_ncols=True) as progress:
+            def submit_next() -> bool:
+                if stop_submitting:
+                    return False
+                try:
+                    job = next(job_iter)
+                except StopIteration:
+                    return False
+                future = executor.submit(run_conversion, job, config)
+                future_to_job[future] = job
+                return True
+
+            for _ in range(min(jobs_limit, len(jobs))):
+                submit_next()
+
+            while future_to_job:
+                done, _ = concurrent.futures.wait(
+                    future_to_job,
+                    return_when=concurrent.futures.FIRST_COMPLETED,
+                )
+                for future in done:
+                    job = future_to_job.pop(future)
+                    result = future.result()
+                    results.append(result)
+                    progress.update(1)
+
+                    if result.status == "failed":
+                        tqdm.write(f"failed: {job.input_path} (exit {result.return_code})", file=sys.stderr)
+                        if config.fail_fast:
+                            stop_submitting = True
+
+                    if not stop_submitting:
+                        submit_next()
+
+                if stop_submitting:
+                    remaining = sum(1 for _ in job_iter)
+                    aborted_count = remaining
+                    progress.total = progress.n + len(future_to_job)
+                    progress.refresh()
+
+    return results, aborted_count
+
+
+@click.command()
+@click.argument("input_dir", type=click.Path(exists=True, file_okay=False, dir_okay=True, path_type=Path))
+@click.option(
+    "--pattern",
+    "patterns",
+    multiple=True,
+    default=DEFAULT_PATTERNS,
+    show_default=True,
+    help="Glob pattern to match under the input directory. Repeatable.",
+)
+@click.option("--recursive/--no-recursive", default=True, show_default=True, help="Use rglob instead of glob.")
+@click.option("--jobs", default=1, show_default=True, type=click.IntRange(min=1), help="Parallel conversion jobs.")
+@click.option(
+    "--zed-bin",
+    type=click.Path(path_type=Path, dir_okay=False),
+    help="Explicit path to the zed_svo_to_mp4 binary.",
+)
+@click.option(
+    "--cuda-visible-devices",
+    help="Optional CUDA_VISIBLE_DEVICES value exported for each conversion subprocess.",
+)
+@click.option("--overwrite/--skip-existing", default=False, show_default=True, help="Overwrite existing MP4 files.")
+@click.option(
+    "--fail-fast/--continue-on-error",
+    default=False,
+    show_default=True,
+    help="Stop submitting new work after the first failed conversion.",
+)
+@click.option("--codec", type=click.Choice(("h264", "h265")), default="h265", show_default=True)
+@click.option(
+    "--encoder-device",
+    type=click.Choice(("auto", "nvidia", "software")),
+    default="auto",
+    show_default=True,
+)
+@click.option("--preset", type=click.Choice(("fast", "balanced", "quality")), default="fast", show_default=True)
+@click.option(
+    "--tune",
+    type=click.Choice(("low-latency", "balanced")),
+    default="low-latency",
+    show_default=True,
+)
+@click.option(
+    "--quality",
+    type=click.IntRange(min=0, max=51),
+    default=23,
+    show_default=True,
+    help="Lower values mean higher quality.",
+)
+@click.option("--gop", type=click.IntRange(min=1), default=30, show_default=True)
+@click.option("--b-frames", "b_frames", type=click.IntRange(min=0), default=0, show_default=True)
+@click.option("--start-frame", type=click.IntRange(min=0), default=0, show_default=True)
+@click.option("--end-frame", type=click.IntRange(min=0), default=None)
+def main(
+    input_dir: Path,
+    patterns: tuple[str, ...],
+    recursive: bool,
+    jobs: int,
+    zed_bin: Path | None,
+    cuda_visible_devices: str | None,
+    overwrite: bool,
+    fail_fast: bool,
+    codec: str,
+    encoder_device: str,
+    preset: str,
+    tune: str,
+    quality: int,
+    gop: int,
+    b_frames: int,
+    start_frame: int,
+    end_frame: int | None,
+) -> None:
+    """Batch-convert ZED SVO/SVO2 recordings in a folder to MP4."""
+    if b_frames > gop:
+        raise click.BadParameter(f"b-frames {b_frames} must be <= gop {gop}", param_hint="--b-frames")
+    if end_frame is not None and end_frame < start_frame:
+        raise click.BadParameter(
+            f"end-frame {end_frame} must be >= start-frame {start_frame}",
+            param_hint="--end-frame",
+        )
+
+    binary_path = locate_binary(zed_bin)
+    inputs = discover_inputs(input_dir.absolute(), patterns, recursive)
+    if not inputs:
+        raise click.ClickException(f"no .svo/.svo2 files matched under {input_dir}")
+
+    config = BatchConfig(
+        zed_bin=binary_path,
+        cuda_visible_devices=cuda_visible_devices,
+        overwrite=overwrite,
+        fail_fast=fail_fast,
+        codec=codec,
+        encoder_device=encoder_device,
+        preset=preset,
+        tune=tune,
+        quality=quality,
+        gop=gop,
+        b_frames=b_frames,
+        start_frame=start_frame,
+        end_frame=end_frame,
+    )
+
+    skipped_results: list[JobResult] = []
+    pending_jobs: list[ConversionJob] = []
+    for input_path in inputs:
+        output_path = output_path_for(input_path)
+        command = tuple(command_for_job(ConversionJob(input_path, output_path), config))
+        if output_path.exists() and not overwrite:
+            skipped_results.append(
+                JobResult(
+                    status="skipped",
+                    input_path=input_path,
+                    output_path=output_path,
+                    command=command,
+                )
+            )
+            continue
+        pending_jobs.append(ConversionJob(input_path=input_path, output_path=output_path))
+
+    click.echo(
+        f"matched={len(inputs)} pending={len(pending_jobs)} skipped={len(skipped_results)} jobs={jobs}",
+        err=True,
+    )
+
+    results = list(skipped_results)
+    conversion_results, aborted_count = run_batch(pending_jobs, config, jobs)
+    results.extend(conversion_results)
+
+    converted_count = sum(1 for result in results if result.status == "converted")
+    skipped_count = sum(1 for result in results if result.status == "skipped")
+    failed_count = sum(1 for result in results if result.status == "failed")
+
+    click.echo(
+        (
+            f"summary: matched={len(inputs)} converted={converted_count} "
+            f"skipped={skipped_count} failed={failed_count} aborted={aborted_count}"
+        ),
+        err=True,
+    )
+    summarize_failures(results)
+
+    if failed_count > 0:
+        raise SystemExit(1)
+    if aborted_count > 0:
+        raise SystemExit(1)
+
+
+if __name__ == "__main__":
+    main()

uv.lock

@@ -0,0 +1,51 @@
+version = 1
+revision = 3
+requires-python = ">=3.10"
+
+[[package]]
+name = "click"
+version = "8.3.1"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "colorama", marker = "sys_platform == 'win32'" },
+]
+sdist = { url = "https://files.pythonhosted.org/packages/3d/fa/656b739db8587d7b5dfa22e22ed02566950fbfbcdc20311993483657a5c0/click-8.3.1.tar.gz", hash = "sha256:12ff4785d337a1bb490bb7e9c2b1ee5da3112e94a8622f26a6c77f5d2fc6842a", size = 295065, upload-time = "2025-11-15T20:45:42.706Z" }
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+]
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+]
+
+[[package]]
+name = "cvmmap-streamer-python-tools"
+version = "0.0.0"
+source = { virtual = "." }
+dependencies = [
+    { name = "click" },
+    { name = "tqdm" },
+]
+
+[package.metadata]
+requires-dist = [
+    { name = "click", specifier = ">=8.1" },
+    { name = "tqdm", specifier = ">=4.66" },
+]
+
+[[package]]
+name = "tqdm"
+version = "4.67.3"
+source = { registry = "https://pypi.org/simple" }
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+    { name = "colorama", marker = "sys_platform == 'win32'" },
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