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feat: bundle synced multi-camera ZED SVO streams into MCAP

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Extend zed_svo_to_mcap to export multiple SVO inputs or a kindergarten segment directory into a single MCAP with per-camera namespaced topics.

Add a MultiMcapRecordSink so one writer can manage independent video, depth, calibration, pose, and body channels for multiple cameras while reusing the existing protobuf schemas and encoded access-unit flow.

Implement strict timestamp synchronization for bundled exports by computing the common time window, seeking each SVO to the shared start, dropping unsynced frames, and only emitting groups that fall within the configured tolerance.

Load per-camera positional tracking settings from a cv-mmap style TOML pose config, preserve single-camera behavior, and add graceful SIGINT or SIGTERM shutdown so interrupted exports flush encoders and finalize readable MCAP files.

Add mcap_multi_record_tester coverage and switch zed_svo_to_mcap defaults to H.265 plus QUALITY depth mode.
This commit is contained in:
crosstyan
2026-03-20 08:09:12 +00:00
parent 18f5675978
commit 8d9bd1b815
5 changed files with 2043 additions and 64 deletions
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CMakeLists.txt
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@@ -287,6 +287,7 @@ add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.
add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
add_cvmmap_binary(mcap_pose_record_tester src/testers/mcap_pose_record_tester.cpp)
add_cvmmap_binary(mcap_multi_record_tester src/testers/mcap_multi_record_tester.cpp)
add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
target_include_directories(mcap_reader_tester