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.
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