crosstyan
1691274e85
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.
19 lines
630 B
TOML
19 lines
630 B
TOML
# Minimal pose-tracking config for zed_svo_to_mcap.
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# The converter currently reads only:
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# - zed.coordinate_system
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# - zed.body_tracking.reference_frame
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# - zed.body_tracking.set_floor_as_origin
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[zed]
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# Native ZED 3D/body coordinate system used when reading positional tracking.
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# Supported values in this repo are IMAGE and RIGHT_HANDED_Y_UP.
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coordinate_system = "IMAGE"
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[zed.body_tracking]
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# Reference frame used for per-camera pose estimation.
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# Supported values are CAMERA and WORLD.
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reference_frame = "CAMERA"
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# When true, WORLD origin is placed on the floor during positional tracking.
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set_floor_as_origin = false
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