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
Implement bundled multi-camera --start-frame semantics as synced-group\nindices from the common synced start, inclusive with --end-frame.\n\nUpdate zed_svo_to_mcap to skip synced groups before writing, keep\nsingle-camera raw SVO frame semantics unchanged, and adjust exact\nprogress totals for selected bundled windows.\n\nReplace the expensive bundled exact pre-count path with approximate\ntime-window progress when --end-frame is not set, and update the\nshared TTY progress bar helper to support fraction-based rendering.\n\nExpose --start-frame in the batch MCAP wrapper and document the\nbundled frame-window semantics and approximate progress behavior in\nthe README.
Add a Python batch wrapper around zed_svo_to_mcap for multi-camera
segment exports. The new script supports dataset discovery, repeated
segment-dir inputs, CSV-driven ordering, skip/probe/report flows, dry-run,
and CUDA environment passthrough so kindergarten-style datasets can be
converted into one bundled MCAP per segment.
Extend zed_svo_to_mcap so bundled multi-camera mode accepts --end-frame
with synced-group semantics. In this mode the value is interpreted as the
last emitted synced frame-group index from the common synced start, while
--start-frame remains unsupported.
Vendor a minimal pose-config TOML and a sample segments CSV into this repo
so the MCAP workflow is self-contained. Update the README to document the
batch MCAP flow, use portable placeholders instead of machine-specific
absolute paths, and describe the expected dataset layout explicitly.
crosstyan