crosstyan/cvmmap-streamer
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feat: support bundled frame-window offsets in zed_svo_to_mcap

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Implement bundled multi-camera --start-frame semantics as synced-group\nindices from the common synced start, inclusive with --end-frame.\n\nUpdate zed_svo_to_mcap to skip synced groups before writing, keep\nsingle-camera raw SVO frame semantics unchanged, and adjust exact\nprogress totals for selected bundled windows.\n\nReplace the expensive bundled exact pre-count path with approximate\ntime-window progress when --end-frame is not set, and update the\nshared TTY progress bar helper to support fraction-based rendering.\n\nExpose --start-frame in the batch MCAP wrapper and document the\nbundled frame-window semantics and approximate progress behavior in\nthe README.
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crosstyan
2026-03-20 10:56:40 +00:00
parent 1369f5235d
commit 7808b89a03
5 changed files with 219 additions and 92 deletions
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README.md
+4 -2
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@@ -240,6 +240,7 @@ uv run python scripts/zed_batch_svo_to_mcap.py \
--recursive \
--jobs 2 \
--cuda-visible-devices GPU-9cc7b26e-90d4-0c49-4d4c-060e528ffba6 \
--start-frame 10 \
--end-frame 29
```
@@ -249,6 +250,7 @@ You can also preserve the precomputed kindergarten CSV ordering:
uv run python scripts/zed_batch_svo_to_mcap.py \
--segments-csv <SEGMENTS_CSV> \
--jobs 2 \
--start-frame 10 \
--end-frame 29
```
@@ -263,8 +265,8 @@ uv run python scripts/zed_batch_svo_to_mcap.py \
The batch MCAP wrapper writes `<segment>/<segment>.mcap` by default, skips existing outputs unless told otherwise, and returns a nonzero exit code if any segment fails.
The repo includes a minimal pose config at `config/zed_pose_config.toml` so MCAP conversion does not depend on a separate `cv-mmap` checkout.
In bundled multi-camera mode, `--end-frame` means the last emitted synced frame-group index from the common start timestamp.
When stderr is attached to a TTY, `zed_svo_to_mcap` shows a tqdm-like progress bar. In bundled mode without `--end-frame`, it first counts synced groups to make that progress total exact.
In bundled multi-camera mode, `--start-frame` and `--end-frame` mean the first and last emitted synced frame-group indices from the common start timestamp, inclusive.
When stderr is attached to a TTY, `zed_svo_to_mcap` shows a tqdm-like progress bar. In bundled mode without `--end-frame`, it uses approximate progress over the common synchronized time window so export starts immediately without a full pre-count pass.
Use `--probe-existing` to validate existing MCAPs before skipping them. Invalid outputs are treated as missing and requeued: