Move the legacy /camera/* contract into its own reference page so the main MCAP layout doc can stay focused on current bundled and copy-layout behavior.
Document the compatibility model explicitly: legacy single-camera is operationally equivalent to one-camera copy when the effective camera label is treated as the literal `camera`.
Update the mcap_rgbd_example helper and recipe docs to accept legacy /camera/* inputs under that compatibility rule instead of rejecting them.
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.
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.
crosstyan