Add ZED SVO to MCAP conversion tool

2026-03-17 02:03:59 +00:00
parent ee53d1958e
commit 0fef0595fb
16 changed files with 1430 additions and 49 deletions
@@ -10,12 +10,6 @@ find_package(Threads REQUIRED)
 find_package(cppzmq QUIET)
 set(CVMMAP_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cv-mmap" CACHE PATH "Path to a local cv-mmap checkout")
 set(CVMMAP_LOCAL_BUILD "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cv-mmap build artifacts")
-if (
-	NOT cvmmap-core_DIR
-	AND EXISTS "${CVMMAP_LOCAL_BUILD}/cvmmap-coreConfig.cmake"
-	AND EXISTS "${CVMMAP_LOCAL_BUILD}/cvmmap-coreTargets.cmake")
-	set(cvmmap-core_DIR "${CVMMAP_LOCAL_BUILD}")
-endif()
 if (cvmmap-core_DIR)
 	find_package(cvmmap-core CONFIG QUIET)
 endif()
@@ -24,6 +18,9 @@ find_package(spdlog REQUIRED)
 find_package(Protobuf REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(rvl CONFIG QUIET)
+set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the local ZED SDK")
+find_package(ZED REQUIRED)
+find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)

 add_subdirectory(third_party)

@@ -48,7 +45,7 @@ if (NOT TARGET cvmmap::client)
 endif()

 if (NOT TARGET rvl::rvl)
-	set(RVL_LOCAL_ROOT "/home/crosstyan/Code/rvl_impl")
+	set(RVL_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../rvl_impl" CACHE PATH "Path to a local rvl_impl checkout")
 	set(RVL_LOCAL_BUILD "${RVL_LOCAL_ROOT}/build/core")
 	if (
 		EXISTS "${RVL_LOCAL_ROOT}/core/include/rvl/rvl.hpp"
@@ -66,7 +63,13 @@ add_library(cvmmap_streamer_foxglove_proto STATIC)
 protobuf_generate(
 	TARGET cvmmap_streamer_foxglove_proto
 	LANGUAGE cpp
-	PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CompressedVideo.proto"
+	PROTOS
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CompressedVideo.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CameraCalibration.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/PoseInFrame.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Pose.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Quaternion.proto"
+		"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Vector3.proto"
 	IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/proto")
 add_library(cvmmap_streamer_depth_proto STATIC)
 protobuf_generate(
@@ -78,13 +81,16 @@ add_library(cvmmap_streamer_protobuf INTERFACE)
 target_include_directories(cvmmap_streamer_foxglove_proto
 	PUBLIC
 		"${CMAKE_CURRENT_BINARY_DIR}"
+		"${CMAKE_CURRENT_BINARY_DIR}/proto"
 		${Protobuf_INCLUDE_DIRS})
 target_include_directories(cvmmap_streamer_depth_proto
 	PUBLIC
 		"${CMAKE_CURRENT_BINARY_DIR}"
+		"${CMAKE_CURRENT_BINARY_DIR}/proto"
 		${Protobuf_INCLUDE_DIRS})
 target_include_directories(cvmmap_streamer_protobuf
 	INTERFACE
+		"${CMAKE_CURRENT_BINARY_DIR}/proto"
 		${Protobuf_INCLUDE_DIRS})
 if (TARGET protobuf::libprotobuf)
 	target_link_libraries(cvmmap_streamer_protobuf INTERFACE protobuf::libprotobuf)
@@ -106,8 +112,38 @@ target_include_directories(cvmmap_streamer_mcap_runtime
 target_link_libraries(cvmmap_streamer_mcap_runtime
 	PUBLIC
 		mcap::mcap
+	PkgConfig::ZSTD
+	PkgConfig::LZ4)
+
+add_library(cvmmap_streamer_record_support STATIC
+	src/encode/encoder_backend.cpp
+	src/encode/ffmpeg_encoder_backend.cpp
+	src/record/protobuf_descriptor.cpp
+	src/record/mcap_record_sink.cpp)
+target_include_directories(cvmmap_streamer_record_support
+	PUBLIC
+		"${CMAKE_CURRENT_LIST_DIR}/include"
+		"${CMAKE_CURRENT_BINARY_DIR}")
+target_link_libraries(cvmmap_streamer_record_support
+	PUBLIC
+		cvmmap_streamer_foxglove_proto
+		cvmmap_streamer_depth_proto
+		cvmmap_streamer_mcap_runtime
+		PkgConfig::FFMPEG
 		PkgConfig::ZSTD
-		PkgConfig::LZ4)
+		PkgConfig::LZ4
+		rvl::rvl
+		mcap::mcap
+		msft_proxy4::proxy
+		cvmmap_streamer_protobuf)
+if (TARGET spdlog::spdlog)
+	target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog::spdlog)
+elseif (TARGET spdlog)
+	target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog)
+endif()
+if (TARGET PkgConfig::PROTOBUF_PKG)
+	target_link_libraries(cvmmap_streamer_record_support PUBLIC PkgConfig::PROTOBUF_PKG)
+endif()

 add_library(cvmmap_streamer_common STATIC
 	src/ipc/help.cpp
@@ -119,11 +155,7 @@ add_library(cvmmap_streamer_common STATIC
 	src/metrics/latency_tracker.cpp
 	src/pipeline/pipeline_runtime.cpp
 	src/protocol/rtmp_output.cpp
-	src/protocol/rtp_publisher.cpp
-	src/encode/encoder_backend.cpp
-	src/encode/ffmpeg_encoder_backend.cpp
-	src/record/protobuf_descriptor.cpp
-	src/record/mcap_record_sink.cpp)
+	src/protocol/rtp_publisher.cpp)

 target_include_directories(cvmmap_streamer_common
 	PUBLIC
@@ -132,18 +164,14 @@ target_include_directories(cvmmap_streamer_common

 set(CVMMAP_STREAMER_LINK_DEPS
 	Threads::Threads
-	cvmmap_streamer_foxglove_proto
-	cvmmap_streamer_depth_proto
-	cvmmap_streamer_mcap_runtime
+	cvmmap_streamer_record_support
 	PkgConfig::FFMPEG
 	PkgConfig::ZSTD
 	PkgConfig::LZ4
-	rvl::rvl
 	cvmmap::client
 	CLI11::CLI11
 	tomlplusplus::tomlplusplus
-	mcap::mcap
-	msft_proxy4::proxy)
+	mcap::mcap)

 if (TARGET cppzmq::cppzmq)
 	list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq::cppzmq)
@@ -193,6 +221,7 @@ add_cvmmap_binary(ipc_snapshot_tester src/testers/ipc_snapshot_tester.cpp)
 add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.cpp)
 add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
 add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
+add_cvmmap_binary(mcap_pose_record_tester src/testers/mcap_pose_record_tester.cpp)

 add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
 target_include_directories(mcap_reader_tester
@@ -247,3 +276,34 @@ endif()
 set_target_properties(mcap_replay_tester PROPERTIES
 	OUTPUT_NAME "mcap_replay_tester"
 	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
+
+add_executable(
+	zed_svo_to_mcap
+	src/tools/zed_svo_to_mcap.cpp
+	src/config/runtime_config.cpp)
+target_include_directories(zed_svo_to_mcap
+	PRIVATE
+		"${CMAKE_CURRENT_LIST_DIR}/include"
+		"${CMAKE_CURRENT_BINARY_DIR}"
+		${ZED_INCLUDE_DIRS}
+		${CUDA_INCLUDE_DIRS})
+target_link_directories(zed_svo_to_mcap
+	PRIVATE
+		${ZED_LIBRARY_DIR}
+		${CUDA_LIBRARY_DIRS})
+target_link_libraries(zed_svo_to_mcap
+	PRIVATE
+		cvmmap_streamer_record_support
+		CLI11::CLI11
+		tomlplusplus::tomlplusplus
+		${ZED_LIBRARIES}
+		${CUDA_CUDA_LIBRARY}
+		${CUDA_CUDART_LIBRARY})
+if (TARGET spdlog::spdlog)
+	target_link_libraries(zed_svo_to_mcap PRIVATE spdlog::spdlog)
+elseif (TARGET spdlog)
+	target_link_libraries(zed_svo_to_mcap PRIVATE spdlog)
+endif()
+set_target_properties(zed_svo_to_mcap PROPERTIES
+	OUTPUT_NAME "zed_svo_to_mcap"
+	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")