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

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.

CMakeLists.txt

@@ -28,6 +28,14 @@ if (NOT TARGET OpenSSL::Crypto AND DEFINED OPENSSL_CRYPTO_LIBRARY)
 		INTERFACE_INCLUDE_DIRECTORIES "${OPENSSL_INCLUDE_DIR}")
 endif()
 find_package(cppzmq QUIET)
+set(CPPZMQ_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cppzmq" CACHE PATH "Path to a local cppzmq checkout")
+if (NOT TARGET cppzmq::cppzmq AND NOT TARGET cppzmq)
+	if (EXISTS "${CPPZMQ_LOCAL_ROOT}/zmq.hpp")
+		add_library(cppzmq::cppzmq INTERFACE IMPORTED GLOBAL)
+		set_target_properties(cppzmq::cppzmq PROPERTIES
+			INTERFACE_INCLUDE_DIRECTORIES "${CPPZMQ_LOCAL_ROOT}")
+	endif()
+endif()
 if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
 	message(FATAL_ERROR
 		"CVMMAP_STREAMER_USE_SYSTEM_CNATS was removed; use CVMMAP_CNATS_PROVIDER=system")
@@ -161,8 +169,10 @@ protobuf_generate(
 	TARGET cvmmap_streamer_depth_proto
 	LANGUAGE cpp
 	PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
-	PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
+	PROTOS
-	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
+		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/BundleManifest.proto"
+	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
 add_library(cvmmap_streamer_protobuf INTERFACE)
 target_include_directories(cvmmap_streamer_foxglove_proto
 	PUBLIC

README.md

@@ -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.

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -8,6 +8,7 @@
 #include <cstddef>
 #include <cstdint>
 #include <expected>
+#include <optional>
 #include <span>
 #include <string>
 #include <string_view>
@@ -19,6 +20,16 @@ enum class DepthEncoding {
 	RvlF32,
 };
 
+enum class BundlePolicy {
+	Nearest,
+	Strict,
+};
+
+enum class BundleMemberStatus {
+	Present,
+	CorruptedGap,
+};
+
 struct RawDepthMapView {
 	std::uint64_t timestamp_ns{0};
 	std::uint32_t width{0};
@@ -57,6 +68,21 @@ struct RawBodyTrackingMessageView {
 	std::span<const std::uint8_t> bytes{};
 };
 
+struct RawBundleMemberView {
+	std::string_view camera_label{};
+	BundleMemberStatus status{BundleMemberStatus::Present};
+	std::optional<std::uint64_t> timestamp_ns{};
+	std::int64_t delta_ns{0};
+	std::uint32_t corrupted_frames_skipped{0};
+};
+
+struct RawBundleManifestView {
+	std::uint64_t timestamp_ns{0};
+	std::uint64_t bundle_index{0};
+	BundlePolicy policy{BundlePolicy::Nearest};
+	std::span<const RawBundleMemberView> members{};
+};
+
 struct McapRecordStreamConfig {
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};
@@ -137,7 +163,8 @@ public:
 	[[nodiscard]]
 	static std::expected<MultiMcapRecordSink, std::string> create(
 		std::string path,
-		McapCompression compression);
+		McapCompression compression,
+		std::string bundle_topic = "/bundle");
 
 	[[nodiscard]]
 	std::expected<StreamId, std::string> add_stream(
@@ -179,6 +206,10 @@ public:
 		StreamId stream_id,
 		const RawPoseView &pose);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_bundle_manifest(
+		const RawBundleManifestView &bundle);
+
 	[[nodiscard]]
 	std::expected<void, std::string> write_body_tracking_message(
 		StreamId stream_id,

proto/cvmmap_streamer/BundleManifest.proto

@@ -0,0 +1,32 @@
+syntax = "proto3";
+
+package cvmmap_streamer;
+
+import "google/protobuf/timestamp.proto";
+
+message BundleManifest {
+  enum BundlePolicy {
+    BUNDLE_POLICY_UNKNOWN = 0;
+    BUNDLE_POLICY_NEAREST = 1;
+    BUNDLE_POLICY_STRICT = 2;
+  }
+
+  enum BundleMemberStatus {
+    BUNDLE_MEMBER_STATUS_UNKNOWN = 0;
+    BUNDLE_MEMBER_STATUS_PRESENT = 1;
+    BUNDLE_MEMBER_STATUS_CORRUPTED_GAP = 2;
+  }
+
+  message BundleMember {
+    string camera_label = 1;
+    google.protobuf.Timestamp timestamp = 2;
+    sint64 delta_ns = 3;
+    BundleMemberStatus status = 4;
+    uint32 corrupted_frames_skipped = 5;
+  }
+
+  google.protobuf.Timestamp timestamp = 1;
+  uint64 bundle_index = 2;
+  BundlePolicy policy = 3;
+  repeated BundleMember members = 4;
+}

scripts/zed_batch_svo_to_mcap.py

@@ -10,6 +10,7 @@ import re
 import subprocess
 import sys
 import time
+from collections import Counter
 from dataclasses import dataclass
 from pathlib import Path
 
@@ -34,6 +35,8 @@ class BatchConfig:
     mcap_compression: str
     depth_mode: str
     depth_size: str
+    bundle_policy: str
+    bundle_topic: str | None
     with_pose: bool
     pose_config: Path | None
     world_frame_id: str | None
@@ -102,6 +105,7 @@ class ActiveJobState:
 
 
 _MCAP_READER_MODULE = None
+_BUNDLE_MANIFEST_CLASS_CACHE: dict[bytes, tuple[object, int | None]] = {}
 TABLE_REFRESH_SECONDS = 1.0
 TEXT_HEARTBEAT_SECONDS = 30.0
 
@@ -500,7 +504,11 @@ def command_for_job(job: ConversionJob, config: BatchConfig, encoder_device: str
         config.depth_mode,
         "--depth-size",
         config.depth_size,
+        "--bundle-policy",
+        config.bundle_policy,
     ]
+    if config.bundle_topic:
+        command.extend(["--bundle-topic", config.bundle_topic])
     if config.with_pose:
         command.append("--with-pose")
     if config.pose_config is not None:
@@ -569,22 +577,131 @@ def required_topics_for(camera_labels: tuple[str, ...]) -> set[str]:
     return topics
 
 
-def probe_output(output_path: Path, camera_labels: tuple[str, ...]) -> OutputProbeResult:
+def load_bundle_manifest_type(schema_data: bytes) -> tuple[object, int | None]:
+    cached = _BUNDLE_MANIFEST_CLASS_CACHE.get(schema_data)
+    if cached is not None:
+        return cached
+
+    from google.protobuf import descriptor_pb2, descriptor_pool, message_factory, timestamp_pb2
+
+    descriptor_set = descriptor_pb2.FileDescriptorSet()
+    descriptor_set.ParseFromString(schema_data)
+    pool = descriptor_pool.DescriptorPool()
+    has_embedded_timestamp = any(
+        file_descriptor.name == "google/protobuf/timestamp.proto"
+        for file_descriptor in descriptor_set.file
+    )
+    if has_embedded_timestamp:
+        for file_descriptor in descriptor_set.file:
+            if file_descriptor.name == "google/protobuf/timestamp.proto":
+                pool.Add(file_descriptor)
+                break
+    else:
+        pool.AddSerializedFile(timestamp_pb2.DESCRIPTOR.serialized_pb)
+    for file_descriptor in descriptor_set.file:
+        if file_descriptor.name == "google/protobuf/timestamp.proto":
+            continue
+        pool.Add(file_descriptor)
+    message_descriptor = pool.FindMessageTypeByName("cvmmap_streamer.BundleManifest")
+    message_class = message_factory.GetMessageClass(message_descriptor)
+    present_value = None
+    if "BundleMemberStatus" in message_descriptor.enum_types_by_name:
+        status_enum = message_descriptor.enum_types_by_name["BundleMemberStatus"]
+        present_value = status_enum.values_by_name["BUNDLE_MEMBER_STATUS_PRESENT"].number
+    _BUNDLE_MANIFEST_CLASS_CACHE[schema_data] = (message_class, present_value)
+    return message_class, present_value
+
+
+def probe_output(
+    output_path: Path,
+    camera_labels: tuple[str, ...],
+    *,
+    bundle_topic: str | None,
+) -> OutputProbeResult:
     if not output_path.is_file():
         return OutputProbeResult(output_path=output_path, status="missing")
 
     reader_module = load_mcap_reader()
     expected_topics = required_topics_for(camera_labels)
+    require_bundle = len(camera_labels) > 1 and bool(bundle_topic)
+    if require_bundle:
+        expected_topics.add(bundle_topic or "/bundle")
     found_topics: set[str] = set()
+    video_counts: Counter[str] = Counter()
+    depth_counts: Counter[str] = Counter()
+    bundle_present_counts: Counter[str] = Counter()
+    expected_camera_labels = set(camera_labels)
 
     try:
         with output_path.open("rb") as stream:
             reader = reader_module.make_reader(stream)
-            for _schema, channel, _message in reader.iter_messages():
+            for schema, channel, message in reader.iter_messages():
                 if channel.topic in expected_topics:
                     found_topics.add(channel.topic)
-                if found_topics == expected_topics:
+                if channel.topic.endswith("/video"):
-                    return OutputProbeResult(output_path=output_path, status="valid")
+                    video_counts[channel.topic.removeprefix("/").removesuffix("/video")] += 1
+                    continue
+                if channel.topic.endswith("/depth"):
+                    depth_counts[channel.topic.removeprefix("/").removesuffix("/depth")] += 1
+                    continue
+                if require_bundle and channel.topic == bundle_topic:
+                    if schema is None or schema.name != "cvmmap_streamer.BundleManifest":
+                        return OutputProbeResult(
+                            output_path=output_path,
+                            status="invalid",
+                            reason=f"bundle topic '{bundle_topic}' is missing the BundleManifest schema",
+                        )
+                    try:
+                        bundle_class, present_value = load_bundle_manifest_type(schema.data)
+                        bundle = bundle_class()
+                        bundle.ParseFromString(message.data)
+                    except Exception as error:  # noqa: BLE001
+                        return OutputProbeResult(
+                            output_path=output_path,
+                            status="invalid",
+                            reason=f"failed to parse bundle manifest: {error}",
+                        )
+
+                    bundle_labels: set[str] = set()
+                    for member in bundle.members:
+                        label = str(member.camera_label)
+                        if label not in expected_camera_labels:
+                            return OutputProbeResult(
+                                output_path=output_path,
+                                status="invalid",
+                                reason=f"bundle manifest referenced unknown camera label '{label}'",
+                            )
+                        if label in bundle_labels:
+                            return OutputProbeResult(
+                                output_path=output_path,
+                                status="invalid",
+                                reason=f"bundle manifest duplicated camera label '{label}'",
+                            )
+                        bundle_labels.add(label)
+                        is_present = member.HasField("timestamp")
+                        if present_value is not None:
+                            is_present = member.status == present_value
+                            if is_present and not member.HasField("timestamp"):
+                                return OutputProbeResult(
+                                    output_path=output_path,
+                                    status="invalid",
+                                    reason=f"bundle member '{label}' is present but missing a timestamp",
+                                )
+                        if is_present:
+                            bundle_present_counts[label] += 1
+                    if bundle_labels != expected_camera_labels:
+                        missing_labels = sorted(expected_camera_labels - bundle_labels)
+                        extra_labels = sorted(bundle_labels - expected_camera_labels)
+                        details = []
+                        if missing_labels:
+                            details.append("missing=" + ",".join(missing_labels))
+                        if extra_labels:
+                            details.append("extra=" + ",".join(extra_labels))
+                        return OutputProbeResult(
+                            output_path=output_path,
+                            status="invalid",
+                            reason="bundle manifest camera coverage mismatch: " + " ".join(details),
+                        )
     except Exception as error:  # noqa: BLE001
         return OutputProbeResult(output_path=output_path, status="invalid", reason=str(error))
 
@@ -595,6 +712,27 @@ def probe_output(output_path: Path, camera_labels: tuple[str, ...]) -> OutputPro
             status="invalid",
             reason="missing expected topics: " + ", ".join(missing_topics),
         )
+    if require_bundle:
+        for label in camera_labels:
+            present_count = bundle_present_counts[label]
+            if video_counts[label] != present_count:
+                return OutputProbeResult(
+                    output_path=output_path,
+                    status="invalid",
+                    reason=(
+                        f"video count mismatch for {label}: "
+                        f"bundle_present={present_count} video_messages={video_counts[label]}"
+                    ),
+                )
+            if depth_counts[label] != present_count:
+                return OutputProbeResult(
+                    output_path=output_path,
+                    status="invalid",
+                    reason=(
+                        f"depth count mismatch for {label}: "
+                        f"bundle_present={present_count} depth_messages={depth_counts[label]}"
+                    ),
+                )
     return OutputProbeResult(output_path=output_path, status="valid")
 
 
@@ -635,8 +773,13 @@ def split_lines_for_excerpt(text: str, max_lines: int = 8) -> list[str]:
     lines = [line.rstrip() for line in text.splitlines() if line.strip()]
     if len(lines) <= max_lines:
         return lines
-    excerpt = lines[:max_lines]
+    head_count = max(1, max_lines // 2)
-    excerpt.append(f"... ({len(lines) - max_lines} more lines)")
+    tail_count = max_lines - head_count
+    excerpt = lines[:head_count]
+    omitted = len(lines) - head_count - tail_count
+    if omitted > 0:
+        excerpt.append(f"... ({omitted} omitted line(s))")
+    excerpt.extend(lines[-tail_count:])
     return excerpt
 
 
@@ -1011,6 +1154,19 @@ def build_worker_slots(
     default="optimal",
     show_default=True,
 )
+@click.option(
+    "--bundle-policy",
+    type=click.Choice(("nearest", "strict")),
+    default="nearest",
+    show_default=True,
+    help="Bundling policy for multi-camera MCAP export.",
+)
+@click.option(
+    "--bundle-topic",
+    default="/bundle",
+    show_default=True,
+    help="Topic used for bundled multi-camera manifest messages.",
+)
 @click.option("--with-pose", is_flag=True, help="Enable per-camera positional tracking export when available.")
 @click.option(
     "--pose-config",
@@ -1026,19 +1182,19 @@ def build_worker_slots(
     "--start-frame",
     type=click.IntRange(min=0),
     default=None,
-    help="First synced frame group to export (inclusive) in bundled multi-camera mode.",
+    help="First bundle index to export (inclusive) in bundled multi-camera mode.",
 )
 @click.option(
     "--end-frame",
     type=click.IntRange(min=0),
     default=None,
-    help="Last synced frame group to export (inclusive) in bundled multi-camera mode.",
+    help="Last bundle index to export (inclusive) in bundled multi-camera mode.",
 )
 @click.option(
     "--sync-tolerance-ms",
     type=click.FloatRange(min=0.0, min_open=True),
     default=None,
-    help="Override the maximum timestamp delta used for bundled multi-camera sync.",
+    help="Override the maximum timestamp delta used by strict bundled sync.",
 )
 @click.option(
     "--progress-ui",
@@ -1070,6 +1226,8 @@ def main(
     mcap_compression: str,
     depth_mode: str,
     depth_size: str,
+    bundle_policy: str,
+    bundle_topic: str,
     with_pose: bool,
     pose_config: Path | None,
     world_frame_id: str | None,
@@ -1102,6 +1260,8 @@ def main(
         mcap_compression=mcap_compression,
         depth_mode=depth_mode,
         depth_size=depth_size,
+        bundle_policy=bundle_policy,
+        bundle_topic=bundle_topic,
         with_pose=with_pose,
         pose_config=pose_config.expanduser().resolve() if pose_config is not None else None,
         world_frame_id=world_frame_id,
@@ -1156,7 +1316,7 @@ def main(
             continue
 
         if report_existing:
-            probe_result = probe_output(output_path, job.camera_labels)
+            probe_result = probe_output(output_path, job.camera_labels, bundle_topic=config.bundle_topic)
             if probe_result.status == "valid":
                 valid_existing.append(probe_result)
             elif probe_result.status == "invalid":
@@ -1171,7 +1331,7 @@ def main(
             continue
 
         if config.probe_existing:
-            probe_result = probe_output(output_path, job.camera_labels)
+            probe_result = probe_output(output_path, job.camera_labels, bundle_topic=config.bundle_topic)
             if probe_result.status == "valid":
                 valid_existing.append(probe_result)
                 skipped_results.append(

src/record/mcap_record_sink.cpp

@@ -3,6 +3,7 @@
 #include "cvmmap_streamer/record/mcap_record_sink.hpp"
 
 #include "protobuf_descriptor.hpp"
+#include "proto/cvmmap_streamer/BundleManifest.pb.h"
 #include "proto/cvmmap_streamer/DepthMap.pb.h"
 #include "proto/foxglove/CameraCalibration.pb.h"
 #include "proto/foxglove/CompressedVideo.pb.h"
@@ -117,6 +118,28 @@ cvmmap_streamer::DepthMap::Encoding to_proto_depth_encoding(DepthEncoding encodi
 	}
 }
 
+[[nodiscard]]
+cvmmap_streamer::BundleManifest::BundlePolicy to_proto_bundle_policy(BundlePolicy policy) {
+	switch (policy) {
+	case BundlePolicy::Strict:
+		return cvmmap_streamer::BundleManifest::BUNDLE_POLICY_STRICT;
+	case BundlePolicy::Nearest:
+	default:
+		return cvmmap_streamer::BundleManifest::BUNDLE_POLICY_NEAREST;
+	}
+}
+
+[[nodiscard]]
+cvmmap_streamer::BundleManifest::BundleMemberStatus to_proto_bundle_member_status(BundleMemberStatus status) {
+	switch (status) {
+	case BundleMemberStatus::CorruptedGap:
+		return cvmmap_streamer::BundleManifest::BUNDLE_MEMBER_STATUS_CORRUPTED_GAP;
+	case BundleMemberStatus::Present:
+	default:
+		return cvmmap_streamer::BundleManifest::BUNDLE_MEMBER_STATUS_PRESENT;
+	}
+}
+
 void append_start_code(std::vector<std::uint8_t> &output) {
 	output.push_back(0x00);
 	output.push_back(0x00);
@@ -464,6 +487,60 @@ std::expected<void, std::string> write_calibration_message(
 	return {};
 }
 
+[[nodiscard]]
+std::expected<void, std::string> write_bundle_manifest_message(
+	mcap::McapWriter &writer,
+	mcap::ChannelId channel_id,
+	std::uint32_t &sequence,
+	const RawBundleManifestView &bundle) {
+	if (channel_id == 0) {
+		return std::unexpected("bundle topic is disabled");
+	}
+	if (bundle.members.empty()) {
+		return std::unexpected("bundle manifest must contain at least one member");
+	}
+
+	cvmmap_streamer::BundleManifest message{};
+	*message.mutable_timestamp() = to_proto_timestamp(bundle.timestamp_ns);
+	message.set_bundle_index(bundle.bundle_index);
+	message.set_policy(to_proto_bundle_policy(bundle.policy));
+	for (const auto &member_view : bundle.members) {
+		if (member_view.camera_label.empty()) {
+			return std::unexpected("bundle member camera label is empty");
+		}
+		if (member_view.status == BundleMemberStatus::Present && !member_view.timestamp_ns.has_value()) {
+			return std::unexpected("present bundle member is missing a timestamp");
+		}
+		auto *member = message.add_members();
+		member->set_camera_label(std::string(member_view.camera_label));
+		member->set_status(to_proto_bundle_member_status(member_view.status));
+		if (member_view.timestamp_ns.has_value()) {
+			*member->mutable_timestamp() = to_proto_timestamp(*member_view.timestamp_ns);
+		}
+		member->set_delta_ns(member_view.delta_ns);
+		member->set_corrupted_frames_skipped(member_view.corrupted_frames_skipped);
+	}
+
+	std::string serialized{};
+	if (!message.SerializeToString(&serialized)) {
+		return std::unexpected("failed to serialize cvmmap_streamer.BundleManifest");
+	}
+
+	mcap::Message record{};
+	record.channelId   = channel_id;
+	record.sequence    = sequence++;
+	record.logTime     = bundle.timestamp_ns;
+	record.publishTime = bundle.timestamp_ns;
+	record.data        = reinterpret_cast<const std::byte *>(serialized.data());
+	record.dataSize    = serialized.size();
+
+	const auto write_status = writer.write(record);
+	if (!write_status.ok()) {
+		return std::unexpected("failed to write MCAP bundle manifest: " + write_status.message);
+	}
+	return {};
+}
+
 }
 
 struct McapRecordSink::State {
@@ -835,8 +912,12 @@ struct MultiMcapRecordSink::State {
 	std::string path{};
 	mcap::SchemaId video_schema_id{0};
 	mcap::SchemaId depth_schema_id{0};
+	mcap::SchemaId bundle_schema_id{0};
 	mcap::SchemaId calibration_schema_id{0};
 	mcap::SchemaId pose_schema_id{0};
+	std::string bundle_topic{};
+	mcap::ChannelId bundle_channel_id{0};
+	std::uint32_t bundle_sequence{0};
 	std::vector<StreamState> streams{};
 };
 
@@ -959,10 +1040,12 @@ MultiMcapRecordSink &MultiMcapRecordSink::operator=(MultiMcapRecordSink &&other)
 
 std::expected<MultiMcapRecordSink, std::string> MultiMcapRecordSink::create(
 	std::string path,
-	McapCompression compression) {
+	McapCompression compression,
+	std::string bundle_topic) {
 	MultiMcapRecordSink sink{};
 	auto state = std::make_unique<State>();
 	state->path = std::move(path);
+	state->bundle_topic = std::move(bundle_topic);
 
 	mcap::McapWriterOptions options("");
 	options.compression = to_mcap_compression(compression);
@@ -989,6 +1072,21 @@ std::expected<MultiMcapRecordSink, std::string> MultiMcapRecordSink::create(
 	state->writer.addSchema(depth_schema);
 	state->depth_schema_id = depth_schema.id;
 
+	if (!state->bundle_topic.empty()) {
+		const auto bundle_descriptor_set = build_file_descriptor_set(cvmmap_streamer::BundleManifest::descriptor());
+		std::string bundle_schema_bytes{};
+		if (!bundle_descriptor_set.SerializeToString(&bundle_schema_bytes)) {
+			return std::unexpected("failed to serialize cvmmap_streamer.BundleManifest descriptor set");
+		}
+		mcap::Schema bundle_schema("cvmmap_streamer.BundleManifest", "protobuf", bundle_schema_bytes);
+		state->writer.addSchema(bundle_schema);
+		state->bundle_schema_id = bundle_schema.id;
+
+		mcap::Channel bundle_channel(state->bundle_topic, "protobuf", state->bundle_schema_id);
+		state->writer.addChannel(bundle_channel);
+		state->bundle_channel_id = bundle_channel.id;
+	}
+
 	const auto calibration_descriptor_set = build_file_descriptor_set(foxglove::CameraCalibration::descriptor());
 	std::string calibration_schema_bytes{};
 	if (!calibration_descriptor_set.SerializeToString(&calibration_schema_bytes)) {
@@ -1237,6 +1335,18 @@ std::expected<void, std::string> MultiMcapRecordSink::write_pose(
 	return {};
 }
 
+std::expected<void, std::string> MultiMcapRecordSink::write_bundle_manifest(
+	const RawBundleManifestView &bundle) {
+	if (state_ == nullptr) {
+		return std::unexpected("MCAP sink is not open");
+	}
+	return write_bundle_manifest_message(
+		state_->writer,
+		state_->bundle_channel_id,
+		state_->bundle_sequence,
+		bundle);
+}
+
 std::expected<void, std::string> MultiMcapRecordSink::write_body_tracking_message(
 	const StreamId stream_id,
 	const RawBodyTrackingMessageView &body_message) {

src/testers/mcap_multi_record_tester.cpp

@@ -1,5 +1,6 @@
 #include <mcap/reader.hpp>
 
+#include "proto/cvmmap_streamer/BundleManifest.pb.h"
 #include "proto/cvmmap_streamer/DepthMap.pb.h"
 #include "cvmmap_streamer/common.h"
 #include "cvmmap_streamer/record/mcap_record_sink.hpp"
@@ -73,7 +74,8 @@ int main(int argc, char **argv) {
 
 	auto sink = cvmmap_streamer::record::MultiMcapRecordSink::create(
 		output_path.string(),
-		compression);
+		compression,
+		"/bundle");
 	if (!sink) {
 		spdlog::error("failed to create MCAP sink: {}", sink.error());
 		return exit_code(TesterExitCode::CreateError);
@@ -125,6 +127,31 @@ int main(int argc, char **argv) {
 		0.0, 500.0, 240.0, 0.0,
 		0.0, 0.0, 1.0, 0.0,
 	};
+	const std::vector<cvmmap_streamer::record::RawBundleMemberView> bundle_members{
+		{
+			.camera_label = "zed1",
+			.status = cvmmap_streamer::record::BundleMemberStatus::Present,
+			.timestamp_ns = 100,
+			.delta_ns = -5,
+		},
+		{
+			.camera_label = "zed2",
+			.status = cvmmap_streamer::record::BundleMemberStatus::CorruptedGap,
+			.timestamp_ns = std::nullopt,
+			.delta_ns = 0,
+			.corrupted_frames_skipped = 3,
+		},
+	};
+
+	if (auto write = sink->write_bundle_manifest(cvmmap_streamer::record::RawBundleManifestView{
+			.timestamp_ns = 105,
+			.bundle_index = 7,
+			.policy = cvmmap_streamer::record::BundlePolicy::Nearest,
+			.members = bundle_members,
+		}); !write) {
+		spdlog::error("failed to write bundle manifest: {}", write.error());
+		return exit_code(TesterExitCode::WriteError);
+	}
 
 	for (const auto [stream_id, label, pose_x] : {
 			 std::tuple{*zed1, std::string("zed1"), 1.0},
@@ -242,6 +269,30 @@ int main(int argc, char **argv) {
 			continue;
 		}
 
+		if (it->schema->name == "cvmmap_streamer.BundleManifest") {
+			cvmmap_streamer::BundleManifest bundle{};
+			if (!bundle.ParseFromArray(it->message.data, static_cast<int>(it->message.dataSize))) {
+				spdlog::error("failed to parse cvmmap_streamer.BundleManifest");
+				reader.close();
+				return exit_code(TesterExitCode::VerificationError);
+			}
+			if (bundle.bundle_index() != 7 || bundle.members_size() != 2) {
+				spdlog::error("bundle manifest contents mismatch");
+				reader.close();
+				return exit_code(TesterExitCode::VerificationError);
+			}
+			if (bundle.members(0).status() != cvmmap_streamer::BundleManifest::BUNDLE_MEMBER_STATUS_PRESENT ||
+				!bundle.members(0).has_timestamp() ||
+				bundle.members(1).status() != cvmmap_streamer::BundleManifest::BUNDLE_MEMBER_STATUS_CORRUPTED_GAP ||
+				bundle.members(1).has_timestamp() ||
+				bundle.members(1).corrupted_frames_skipped() != 3) {
+				spdlog::error("bundle manifest member status mismatch");
+				reader.close();
+				return exit_code(TesterExitCode::VerificationError);
+			}
+			continue;
+		}
+
 		if (it->schema->name == "foxglove.CameraCalibration") {
 			foxglove::CameraCalibration calibration{};
 			if (!calibration.ParseFromArray(it->message.data, static_cast<int>(it->message.dataSize))) {
@@ -266,6 +317,7 @@ int main(int argc, char **argv) {
 	reader.close();
 
 	for (const auto &topic : {
+			 "/bundle",
 			 "/zed1/video",
 			 "/zed1/depth",
 			 "/zed1/calibration",