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
Document the bundled and single-camera MCAP topic contract in docs/mcap_layout.md and link it from the README.
Add scripts/mcap_bundle_validator.py to summarize and validate both bundled /bundle-based MCAPs and single-camera /camera/* MCAPs from Python.
Validate bundled files against bundle-member presence counts and single-camera files against topic/schema expectations plus video/depth/calibration count rules.
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
Switch acceptance/fault/release scripts to project-local .sisyphus evidence roots and remove parent-repo path assumptions.
Also harden deterministic behavior with run-id-derived port allocation and tuned fault thresholds so release gate pass and injected-failure flows remain stable in standalone execution.
This commit consolidates operational documentation and runbooks used to drive task execution and release validation.
It includes evidence writeups, caveat/matrix references, release gate outputs, plan/notepad context, and generated SDP fixture needed for reproducible downstream review, keeping them separate from code and generated artifacts.
This separation lets runtime and harness changes be reviewed as implementation units while process documentation remains in an independent governance/history commit.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
crosstyan