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feat(zed): recover corrupted frame gaps in MCAP export

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Make ZED MCAP export skip corrupted frame runs until recovery and

treat unreadable tail frames as end-of-stream instead of hard

failing conversion.

Update bundled nearest-mode export to emit partial bundles during

corruption gaps, extend BundleManifest with explicit member status

and skipped-frame counts, and only write payload messages for

present cameras.

Tighten batch probing so bundled MCAP validation checks /bundle

coverage and per-camera message counts, and improve failure

excerpts to include stderr tail output.

Also add a local cppzmq CMake fallback, refresh the multi-record

tester for the new bundle schema, and document the mixed NVENC

limitations in the README.
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crosstyan
2026-03-24 03:49:35 +00:00
parent e3a423433e
commit 807a73b480
8 changed files with 1006 additions and 172 deletions
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README.md
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@@ -265,9 +265,11 @@ 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, `--start-frame` and `--end-frame` mean the first and last emitted synced frame-group indices from the common start timestamp, inclusive.
In bundled multi-camera mode, `--start-frame` and `--end-frame` mean the first and last emitted bundle indices from the common start timestamp, inclusive.
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.
### Why Mixed Hardware/Software Mode Exists
Bundled MCAP export opens one video encoder per camera stream. A four-camera segment therefore consumes four H.264/H.265 encoder sessions at once.