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docs(mcap): split legacy single-camera layout reference

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Move the legacy /camera/* contract into its own reference page so the main MCAP layout doc can stay focused on current bundled and copy-layout behavior.

Document the compatibility model explicitly: legacy single-camera is operationally equivalent to one-camera copy when the effective camera label is treated as the literal `camera`.

Update the mcap_rgbd_example helper and recipe docs to accept legacy /camera/* inputs under that compatibility rule instead of rejecting them.
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crosstyan
2026-03-24 10:55:01 +00:00
parent ffd246e508
commit d0f3dc5cf1
5 changed files with 94 additions and 51 deletions
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README.md
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@@ -271,9 +271,9 @@ When stderr is attached to a TTY, `zed_batch_svo_to_mcap.py` uses a `progress-ta
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`. Faster cameras are sampled onto the slowest common timeline there, so they can end up with the same message count as slower cameras. Consumers that care about grouping should follow `/bundle` instead of inferring bundle membership from identical message timestamps.
Use `--bundle-policy strict` when you want thresholded grouping; `--sync-tolerance-ms` only applies in that strict mode. Use `--bundle-policy copy` when you want one MCAP containing all camera namespaces with their original per-camera cadence and no `/bundle` manifest. `copy` disables `--start-frame`, `--end-frame`, and `--sync-tolerance-ms`; `--copy-range common|full` controls whether it trims to the overlap window or preserves each camera’s full timestamp range.
Single-source `zed_svo_to_mcap` now writes the one-camera `copy` shape by default, so `foo_zed4.svo2` exports namespaced topics like `/zed4/video` and `/zed4/depth` with no `/bundle`. See [docs/mcap_layout.md](./docs/mcap_layout.md) for the full bundled, copy, and legacy `/camera/*` MCAP topic contract.
Single-source `zed_svo_to_mcap` now writes the one-camera `copy` shape by default, so `foo_zed4.svo2` exports namespaced topics like `/zed4/video` and `/zed4/depth` with no `/bundle`. See [docs/mcap_layout.md](./docs/mcap_layout.md) for the current bundled/copy contract and [docs/mcap_legacy_single_camera_layout.md](./docs/mcap_legacy_single_camera_layout.md) for the separate legacy `/camera/*` reference.
For the simple non-GUI path, use `scripts/mcap_rgbd_example.py` and [docs/mcap_recipes.md](./docs/mcap_recipes.md). That helper is for current `bundled` and `copy` MCAPs only; old legacy `/camera/*` files should be regenerated into `copy` layout instead of being supported there.
For the simple non-GUI path, use `scripts/mcap_rgbd_example.py` and [docs/mcap_recipes.md](./docs/mcap_recipes.md). That helper supports current `bundled` and `copy` MCAPs, and it also accepts the legacy `/camera/*` shape by treating it as a single-camera stream with the literal label `camera`.
### MCAP RGBD Viewer