Add an opt-in multi-camera copy layout for zed_svo_to_mcap.
copy mode preserves each camera's original timestamps and cadence,
writes namespaced /zedN topics without /bundle, and supports
common-overlap or full-range export windows.
Update the batch wrapper, Python validator, RGBD viewer, and
documentation so copy-layout MCAP files are treated as a first-class
format rather than invalid bundled output.
Validation:
- cmake --build build --target zed_svo_to_mcap -j4
- uv run python -m py_compile scripts/zed_batch_svo_to_mcap.py scripts/mcap_bundle_validator.py scripts/mcap_rgbd_viewer.py
- build/bin/zed_svo_to_mcap --segment-dir /workspaces/data/kindergarten/bar/2026-03-18T11-59-41 --output /tmp/bar_11-59-41_copy_common.mcap --encoder-device nvidia --depth-mode neural_plus --depth-size optimal --bundle-policy copy --copy-range common
- uv run python scripts/mcap_bundle_validator.py /tmp/bar_11-59-41_copy_common.mcap
- uv run --extra viewer python scripts/mcap_rgbd_viewer.py /tmp/bar_11-59-41_copy_common.mcap --summary-only
Add a new mcap_video_bounds helper binary plus a zed_segment_time_index.py CLI that builds and queries an embedded DuckDB index for bundled ZED segment recordings.
The index stores segment folders, MCAP paths, video time bounds, durations, camera labels, and dataset metadata, and reuses the existing recursive multi-camera segment discovery logic so nested kindergarten layouts are indexed correctly.
Infer a dataset default timezone from folder names versus MCAP timestamps, and make point queries precision-aware so second-level folder timestamps like 2026-03-18T12-00-23 resolve to the matching segment instead of missing due to subsecond start offsets.
Verification:
- uv add 'duckdb>=1.0'
- cmake --build build --target mcap_video_bounds
- uv run python -m unittest tests.test_zed_segment_time_index
- uv run python scripts/zed_segment_time_index.py build /workspaces/data/kindergarten --jobs 8
- uv run python scripts/zed_segment_time_index.py query /workspaces/data/kindergarten --at 2026-03-18T12-00-23
Default ZED MCAP export to neural_plus depth across the CLI and Python wrappers, and add tail-frame handling plus better corrupted-frame diagnostics in zed_svo_to_mcap.
Add mixed hardware/software worker pools to the batch MCAP wrapper, replace tqdm with progress-table on TTYs, keep text event logging and heartbeats for non-TTY runs, and document the NVENC session-limit rationale for mixed mode in the README.
Also refresh Python dependencies for the batch tooling and move the OpenSSL lookup in CMake so the local workspace build remains compatible with the vendored cnats setup.
crosstyan