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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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docs/mcap_layout.md
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@@ -1,14 +1,15 @@
# MCAP Layout
`cvmmap-streamer` writes three related MCAP layouts:
`cvmmap-streamer` currently deals with three active MCAP layouts plus one legacy single-camera layout:
- single-camera MCAP export
- legacy single-camera `/camera/*` MCAP export
- bundled multi-camera timeline export
- multi-camera copy export
- single-source `zed_svo_to_mcap` output, which now uses the one-camera `copy` shape
This document covers the topic layout, schema types, and timestamp semantics for both.
## Single-Camera Layout
## Legacy Single-Camera Layout
Default topics:
@@ -23,6 +24,8 @@ Default topics:
Single-camera export preserves the original per-frame source timestamp on video, depth, and pose messages.
This layout is still used by the generic sink/testers in the repository, but it is no longer the default shape written by `zed_svo_to_mcap` for a single `.svo` or `.svo2` input.
## Bundled Multi-Camera Layout
Bundled export namespaces each camera stream and adds one bundle manifest topic:
@@ -65,6 +68,11 @@ Because `nearest` emits on the slowest common timeline, faster cameras can legit
`--copy-range common` trims each camera to the common overlap window without resampling. `--copy-range full` preserves each camera’s full readable timestamp range from the grouped segment.
Single-source `zed_svo_to_mcap` now writes this same wire shape with one derived label, for example:
- `/zed4/video`, `/zed4/depth`, `/zed4/calibration` for `*_zed4.svo2`
- `/cam1/video`, `/cam1/depth`, `/cam1/calibration` when the filename has no `zedN` suffix
## Bundle Manifest Contract
`/bundle` is the authoritative grouping contract for bundled MCAP files. Consumers should not infer grouping from identical MCAP `logTime` values or from matching per-camera timestamps.
@@ -151,4 +159,4 @@ For multi-camera `copy` MCAP files, the current validation contract is:
- each camera must have `/zedN/video`, `/zedN/depth`, and `/zedN/calibration`
- for each camera, `/zedN/video` and `/zedN/depth` message counts must match
The repository-level Python helper [scripts/mcap_bundle_validator.py](../scripts/mcap_bundle_validator.py) now understands all three layouts and reports which one it found before applying the corresponding validation rules.
The repository-level Python helper [scripts/mcap_bundle_validator.py](../scripts/mcap_bundle_validator.py) understands bundled, copy, and legacy `/camera/*` layouts and reports which one it found before applying the corresponding validation rules.