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feat(mcap): switch single-source exports to copy layout

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Namespace single-source zed_svo_to_mcap outputs with a derived camera label so one-camera exports use the same copy-layout topic shape as current multi-camera copy files.

Use the per-camera frame and pose reference identifiers for those single-source outputs, document copy as the current one-camera wire shape, and clarify that legacy /camera/* files are retained only as a legacy contract.

Add a small mcap_rgbd_example helper plus mcap_recipes guide for summarizing bundled/copy MCAPs and exporting one RGB/depth sample, and update the validator and viewer wording/behavior to match the bundled-vs-copy semantics.
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crosstyan
2026-03-24 10:40:33 +00:00
parent 8597976678
commit ffd246e508
7 changed files with 831 additions and 15 deletions
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@@ -271,11 +271,13 @@ 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.
See [docs/mcap_layout.md](./docs/mcap_layout.md) for the full bundled and single-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 full bundled, copy, and legacy `/camera/*` MCAP topic contract.
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.
### MCAP RGBD Viewer
The repo includes an example RGB+depth viewer at `scripts/mcap_rgbd_viewer.py`. It supports standalone `/camera/*` MCAPs, bundled `/bundle` + `/zedN/*` MCAPs, and multi-camera `copy` MCAPs with namespaced `/zedN/*` topics and no `/bundle`.
The repo includes an example RGB+depth viewer at `scripts/mcap_rgbd_viewer.py`. It supports legacy standalone `/camera/*` MCAPs, bundled `/bundle` + `/zedN/*` MCAPs, and `copy` MCAPs with namespaced `/{label}/*` topics and no `/bundle`, including the default single-source output from `zed_svo_to_mcap`.
Install the optional viewer dependencies first: