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feat(mcap): add Python layout validator

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Document the bundled and single-camera MCAP topic contract in docs/mcap_layout.md and link it from the README.

Add scripts/mcap_bundle_validator.py to summarize and validate both bundled /bundle-based MCAPs and single-camera /camera/* MCAPs from Python.

Validate bundled files against bundle-member presence counts and single-camera files against topic/schema expectations plus video/depth/calibration count rules.
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crosstyan
2026-03-24 07:54:12 +00:00
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README.md
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@@ -269,6 +269,7 @@ In bundled multi-camera mode, `--start-frame` and `--end-frame` mean the first a
When stderr is attached to a TTY, `zed_batch_svo_to_mcap.py` uses a `progress-table` view by default; otherwise it emits line-oriented start/completion/failure logs plus periodic heartbeat summaries. Use `--progress-ui table` or `--progress-ui text` to override the automatic mode selection.
Bundled MCAP export now defaults to `--bundle-policy nearest`. That mode emits one `/bundle` manifest message per bundle timestamp on the common timeline and keeps the original per-camera timestamps on `/zedN/video`, `/zedN/depth`, and optional `/zedN/pose`. Consumers that care about grouping should follow `/bundle` instead of inferring bundle membership from identical message timestamps. Use `--bundle-policy strict` when you want the older thresholded sync behavior, and `--sync-tolerance-ms` only applies in that strict mode.
See [docs/mcap_layout.md](./docs/mcap_layout.md) for the full bundled and single-camera MCAP topic contract.
### Why Mixed Hardware/Software Mode Exists