build(streamer): make ZED SDK optional

2026-03-20 17:34:30 +08:00
parent 1691274e85
commit 1ef318bde4
2 changed files with 143 additions and 117 deletions
@@ -56,24 +56,34 @@ find_package(ZeroMQ QUIET)
 find_package(spdlog REQUIRED)
 find_package(Protobuf REQUIRED)
 find_package(PkgConfig REQUIRED)
-if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
-	find_package(OpenCV REQUIRED COMPONENTS core imgproc)
-endif()
 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 ${ZED_CUDA_VERSION} REQUIRED)
-find_library(CVMMAP_STREAMER_LIBUSB_LIBRARY NAMES usb-1.0 libusb-1.0)
-if (CVMMAP_STREAMER_LIBUSB_LIBRARY)
-	set(_CVMMAP_STREAMER_ZED_LIBRARIES "")
-	foreach(_zed_lib IN LISTS ZED_LIBRARIES)
-		if (_zed_lib STREQUAL "/usr/lib/x86_64-linux-gnu/libusb-1.0.so")
-			list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${CVMMAP_STREAMER_LIBUSB_LIBRARY}")
-		else()
-			list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${_zed_lib}")
-		endif()
-	endforeach()
-	set(ZED_LIBRARIES "${_CVMMAP_STREAMER_ZED_LIBRARIES}")
+find_package(ZED QUIET)
+set(CVMMAP_HAS_ZED_SDK OFF)
+if (ZED_FOUND)
+	find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
+	find_library(CVMMAP_STREAMER_LIBUSB_LIBRARY NAMES usb-1.0 libusb-1.0)
+	if (CVMMAP_STREAMER_LIBUSB_LIBRARY)
+		set(_CVMMAP_STREAMER_ZED_LIBRARIES "")
+		foreach(_zed_lib IN LISTS ZED_LIBRARIES)
+			if (_zed_lib STREQUAL "/usr/lib/x86_64-linux-gnu/libusb-1.0.so")
+				list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${CVMMAP_STREAMER_LIBUSB_LIBRARY}")
+			else()
+				list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${_zed_lib}")
+			endif()
+		endforeach()
+		set(ZED_LIBRARIES "${_CVMMAP_STREAMER_ZED_LIBRARIES}")
+	endif()
+	set(CVMMAP_HAS_ZED_SDK ON)
+	message(STATUS "ZED SDK found: enabling zed_svo_to_mcap and zed_svo_to_mp4")
+else()
+	message(STATUS "ZED SDK not found: skipping ZED conversion tools")
+endif()
+
+if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4 AND CVMMAP_HAS_ZED_SDK)
+	find_package(OpenCV REQUIRED COMPONENTS core imgproc)
+elseif (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+	message(STATUS "CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4=ON but ZED SDK is unavailable; zed_svo_grid_to_mp4 will not be built")
 endif()

 add_subdirectory(third_party)
@@ -343,126 +353,123 @@ 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")
+set(CVMMAP_STREAMER_INSTALL_TARGETS cvmmap_streamer)

-add_library(
-	cvmmap_streamer_zed_svo_mp4_support
-	STATIC
-		src/tools/zed_svo_mp4_support.cpp)
-target_include_directories(cvmmap_streamer_zed_svo_mp4_support
-	PUBLIC
-		"${CMAKE_CURRENT_LIST_DIR}/include"
-		"${CMAKE_CURRENT_BINARY_DIR}")
-target_link_libraries(cvmmap_streamer_zed_svo_mp4_support
-	PUBLIC
-		PkgConfig::FFMPEG)
-if (TARGET spdlog::spdlog)
-	target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog::spdlog)
-elseif (TARGET spdlog)
-	target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog)
-endif()
-
-add_executable(
-	zed_svo_to_mp4
-	src/tools/zed_svo_to_mp4.cpp)
-target_include_directories(zed_svo_to_mp4
-	PRIVATE
-		"${CMAKE_CURRENT_LIST_DIR}/include"
-		"${CMAKE_CURRENT_BINARY_DIR}"
-		${ZED_INCLUDE_DIRS}
-		${CUDA_INCLUDE_DIRS})
-target_link_directories(zed_svo_to_mp4
-	PRIVATE
-		${ZED_LIBRARY_DIR}
-		${CUDA_LIBRARY_DIRS})
-target_link_libraries(zed_svo_to_mp4
-	PRIVATE
-		CLI11::CLI11
-		cvmmap_streamer_zed_svo_mp4_support
-		${ZED_LIBRARIES}
-		${CUDA_CUDA_LIBRARY}
-		${CUDA_CUDART_LIBRARY})
-if (TARGET spdlog::spdlog)
-	target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog::spdlog)
-elseif (TARGET spdlog)
-	target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog)
-endif()
-set_target_properties(zed_svo_to_mp4 PROPERTIES
-	OUTPUT_NAME "zed_svo_to_mp4"
-	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
-
-if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+if (CVMMAP_HAS_ZED_SDK)
 	add_executable(
-		zed_svo_grid_to_mp4
-		src/tools/zed_svo_grid_to_mp4.cpp)
-	target_include_directories(zed_svo_grid_to_mp4
+		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}
-			${OpenCV_INCLUDE_DIRS})
-	target_link_directories(zed_svo_grid_to_mp4
+			${CUDA_INCLUDE_DIRS})
+	target_link_directories(zed_svo_to_mcap
 		PRIVATE
 			${ZED_LIBRARY_DIR}
 			${CUDA_LIBRARY_DIRS})
-	target_link_libraries(zed_svo_grid_to_mp4
+	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")
+	list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mcap)
+
+	add_library(
+		cvmmap_streamer_zed_svo_mp4_support
+		STATIC
+			src/tools/zed_svo_mp4_support.cpp)
+	target_include_directories(cvmmap_streamer_zed_svo_mp4_support
+		PUBLIC
+			"${CMAKE_CURRENT_LIST_DIR}/include"
+			"${CMAKE_CURRENT_BINARY_DIR}")
+	target_link_libraries(cvmmap_streamer_zed_svo_mp4_support
+		PUBLIC
+			PkgConfig::FFMPEG)
+	if (TARGET spdlog::spdlog)
+		target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog::spdlog)
+	elseif (TARGET spdlog)
+		target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog)
+	endif()
+
+	add_executable(
+		zed_svo_to_mp4
+		src/tools/zed_svo_to_mp4.cpp)
+	target_include_directories(zed_svo_to_mp4
+		PRIVATE
+			"${CMAKE_CURRENT_LIST_DIR}/include"
+			"${CMAKE_CURRENT_BINARY_DIR}"
+			${ZED_INCLUDE_DIRS}
+			${CUDA_INCLUDE_DIRS})
+	target_link_directories(zed_svo_to_mp4
+		PRIVATE
+			${ZED_LIBRARY_DIR}
+			${CUDA_LIBRARY_DIRS})
+	target_link_libraries(zed_svo_to_mp4
 		PRIVATE
 			CLI11::CLI11
 			cvmmap_streamer_zed_svo_mp4_support
 			${ZED_LIBRARIES}
 			${CUDA_CUDA_LIBRARY}
-			${CUDA_CUDART_LIBRARY}
-			${OpenCV_LIBS})
+			${CUDA_CUDART_LIBRARY})
 	if (TARGET spdlog::spdlog)
-		target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog::spdlog)
+		target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog::spdlog)
 	elseif (TARGET spdlog)
-		target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog)
+		target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog)
 	endif()
-	set_target_properties(zed_svo_grid_to_mp4 PROPERTIES
-		OUTPUT_NAME "zed_svo_grid_to_mp4"
+	set_target_properties(zed_svo_to_mp4 PROPERTIES
+		OUTPUT_NAME "zed_svo_to_mp4"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
+	list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mp4)
+
+	if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+		add_executable(
+			zed_svo_grid_to_mp4
+			src/tools/zed_svo_grid_to_mp4.cpp)
+		target_include_directories(zed_svo_grid_to_mp4
+			PRIVATE
+				"${CMAKE_CURRENT_LIST_DIR}/include"
+				"${CMAKE_CURRENT_BINARY_DIR}"
+				${ZED_INCLUDE_DIRS}
+				${CUDA_INCLUDE_DIRS}
+				${OpenCV_INCLUDE_DIRS})
+		target_link_directories(zed_svo_grid_to_mp4
+			PRIVATE
+				${ZED_LIBRARY_DIR}
+				${CUDA_LIBRARY_DIRS})
+		target_link_libraries(zed_svo_grid_to_mp4
+			PRIVATE
+				CLI11::CLI11
+				cvmmap_streamer_zed_svo_mp4_support
+				${ZED_LIBRARIES}
+				${CUDA_CUDA_LIBRARY}
+				${CUDA_CUDART_LIBRARY}
+				${OpenCV_LIBS})
+		if (TARGET spdlog::spdlog)
+			target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog::spdlog)
+		elseif (TARGET spdlog)
+			target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog)
+		endif()
+		set_target_properties(zed_svo_grid_to_mp4 PROPERTIES
+			OUTPUT_NAME "zed_svo_grid_to_mp4"
+			RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
+		list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_grid_to_mp4)
+	endif()
 endif()

 install(
-	TARGETS
-		cvmmap_streamer
-		zed_svo_to_mcap
-		zed_svo_to_mp4
+	TARGETS ${CVMMAP_STREAMER_INSTALL_TARGETS}
 	RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
-
-if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
-	install(
-		TARGETS
-			zed_svo_grid_to_mp4
-		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
-endif()