Restrict ZED depth export to neural modes and default offline MCAP conversion to the SDK-selected optimal depth size instead of camera resolution.
Add a configurable --depth-size option, propagate the actual returned depth dimensions into DepthMap metadata, and emit a dedicated depth calibration topic when depth resolution differs from video.
Update the batch and recording helper scripts to use the new neural-only depth mode surface and pass through depth sizing.
Verification:
- cmake --build build --target zed_svo_to_mcap mcap_multi_record_tester mcap_pose_record_tester -j4
- build/bin/mcap_multi_record_tester
- build/bin/mcap_pose_record_tester
- build/bin/zed_svo_to_mcap --input /workspaces/data/kindergarten/jump/experiment/2/2026-03-18T11-27-15/2026-03-18T11-27-15_zed4.svo2 --output /tmp/zed4_neural_optimal_test.mcap --codec h264 --encoder-device software --mcap-compression zstd --depth-mode neural --depth-size optimal --start-frame 0 --end-frame 9
Register an MCAP recorder service on the streamer control subjects, reuse the shared recording request and status model, and expose the zed recording preview/conversion helper.
This also replaces the temporary cnats boolean with the explicit CVMMAP_CNATS_PROVIDER modes and documents the supported system and workspace build paths.
crosstyan