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
@@ -56,15 +56,14 @@ 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)
+find_package(ZED QUIET)
+set(CVMMAP_HAS_ZED_SDK OFF)
+if (ZED_FOUND)
+	find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
+	find_library(CVMMAP_STREAMER_LIBUSB_LIBRARY NAMES usb-1.0 libusb-1.0)
+	if (CVMMAP_STREAMER_LIBUSB_LIBRARY)
 		set(_CVMMAP_STREAMER_ZED_LIBRARIES "")
 		foreach(_zed_lib IN LISTS ZED_LIBRARIES)
 			if (_zed_lib STREQUAL "/usr/lib/x86_64-linux-gnu/libusb-1.0.so")
@@ -74,6 +73,17 @@ if (CVMMAP_STREAMER_LIBUSB_LIBRARY)
 			endif()
 		endforeach()
 		set(ZED_LIBRARIES "${_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)
@@ -343,21 +353,24 @@ set_target_properties(mcap_replay_tester PROPERTIES
 	OUTPUT_NAME "mcap_replay_tester"
 	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")

-add_executable(
+set(CVMMAP_STREAMER_INSTALL_TARGETS cvmmap_streamer)
+
+if (CVMMAP_HAS_ZED_SDK)
+	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
+	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
+	target_link_directories(zed_svo_to_mcap
 		PRIVATE
 			${ZED_LIBRARY_DIR}
 			${CUDA_LIBRARY_DIRS})
-target_link_libraries(zed_svo_to_mcap
+	target_link_libraries(zed_svo_to_mcap
 		PRIVATE
 			cvmmap_streamer_record_support
 			CLI11::CLI11
@@ -365,62 +378,64 @@ target_link_libraries(zed_svo_to_mcap
 			${ZED_LIBRARIES}
 			${CUDA_CUDA_LIBRARY}
 			${CUDA_CUDART_LIBRARY})
-if (TARGET spdlog::spdlog)
+	if (TARGET spdlog::spdlog)
 		target_link_libraries(zed_svo_to_mcap PRIVATE spdlog::spdlog)
-elseif (TARGET spdlog)
+	elseif (TARGET spdlog)
 		target_link_libraries(zed_svo_to_mcap PRIVATE spdlog)
-endif()
-set_target_properties(zed_svo_to_mcap PROPERTIES
+	endif()
+	set_target_properties(zed_svo_to_mcap PROPERTIES
 		OUTPUT_NAME "zed_svo_to_mcap"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
+	list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mcap)

-add_library(
+	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
+	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
+	target_link_libraries(cvmmap_streamer_zed_svo_mp4_support
 		PUBLIC
 			PkgConfig::FFMPEG)
-if (TARGET spdlog::spdlog)
+	if (TARGET spdlog::spdlog)
 		target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog::spdlog)
-elseif (TARGET spdlog)
+	elseif (TARGET spdlog)
 		target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog)
-endif()
+	endif()

-add_executable(
+	add_executable(
 		zed_svo_to_mp4
 		src/tools/zed_svo_to_mp4.cpp)
-target_include_directories(zed_svo_to_mp4
+	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
+	target_link_directories(zed_svo_to_mp4
 		PRIVATE
 			${ZED_LIBRARY_DIR}
 			${CUDA_LIBRARY_DIRS})
-target_link_libraries(zed_svo_to_mp4
+	target_link_libraries(zed_svo_to_mp4
 		PRIVATE
 			CLI11::CLI11
 			cvmmap_streamer_zed_svo_mp4_support
 			${ZED_LIBRARIES}
 			${CUDA_CUDA_LIBRARY}
 			${CUDA_CUDART_LIBRARY})
-if (TARGET spdlog::spdlog)
+	if (TARGET spdlog::spdlog)
 		target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog::spdlog)
-elseif (TARGET spdlog)
+	elseif (TARGET spdlog)
 		target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog)
-endif()
-set_target_properties(zed_svo_to_mp4 PROPERTIES
+	endif()
+	set_target_properties(zed_svo_to_mp4 PROPERTIES
 		OUTPUT_NAME "zed_svo_to_mp4"
 		RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
+	list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mp4)

-if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+	if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
 		add_executable(
 			zed_svo_grid_to_mp4
 			src/tools/zed_svo_grid_to_mp4.cpp)
@@ -451,18 +466,10 @@ if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
 		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()
@@ -45,6 +45,17 @@ cmake -B build -S .
 cmake --build build
 ```

+When the ZED SDK is available, the build also enables `zed_svo_to_mcap` and
+`zed_svo_to_mp4` automatically. When the SDK is absent, those tools are skipped
+and the main streamer plus non-ZED testers still build normally.
+
+`zed_svo_grid_to_mp4` remains optional and additionally requires OpenCV. Disable
+it explicitly with:
+
+```bash
+cmake -B build -S . -DCVMMAP_BUILD_ZED_SVO_GRID_TO_MP4=OFF
+```
+
 ```bash
 # Use a local cv-mmap build tree
 cmake -B build -S . \
@@ -60,6 +71,8 @@ ls -la build/{cvmmap_streamer,rtp_receiver_tester,rtmp_stub_tester}

 ### ZED SVO/SVO2 To MP4

+This tool is only built when the ZED SDK is detected during CMake configure.
+
 The repo also includes an offline conversion tool for the left ZED color stream:

 ```bash
@@ -130,6 +143,9 @@ The batch tool mirrors the common encoder options from `zed_svo_to_mp4`, skips e

 ### ZED SVO Grid To MP4

+This tool is only built when the ZED SDK is detected and
+`CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4=ON`.
+
 Use the grid converter to merge four synced ZED recordings into a 2x2 CCTV-style MP4 with a Unix timestamp overlay in the top-left corner:

 ```bash
@@ -213,6 +229,9 @@ timestamp,activity,group_path,segment_dir,camera,relative_path

 ### Batch ZED Segments To MCAP

+This workflow depends on the `zed_svo_to_mcap` binary, which is only built when
+the ZED SDK is detected during CMake configure.
+
 Use the wrapper to recurse through a dataset root, run `zed_svo_to_mcap --segment-dir` on every matched multi-camera segment, and show one aggregate tqdm progress bar:

 ```bash