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Add synced ZED SVO grid exporter

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crosstyan
2026-03-19 08:26:38 +00:00
parent 83171b415f
commit 2671ac7ba9
6 changed files with 2066 additions and 0 deletions
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CMakeLists.txt
+88
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@@ -6,6 +6,8 @@ set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
include(GNUInstallDirs)
find_package(Threads REQUIRED)
find_package(cppzmq QUIET)
if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
@@ -49,6 +51,7 @@ find_package(ZeroMQ QUIET)
find_package(spdlog REQUIRED)
find_package(Protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core imgproc)
find_package(rvl CONFIG QUIET)
set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the local ZED SDK")
find_package(ZED REQUIRED)
@@ -362,3 +365,88 @@ endif()
set_target_properties(zed_svo_to_mcap PROPERTIES
OUTPUT_NAME "zed_svo_to_mcap"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
add_library(
cvmmap_streamer_zed_svo_mp4_support
STATIC
src/tools/zed_svo_mp4_support.cpp)
target_include_directories(cvmmap_streamer_zed_svo_mp4_support
PUBLIC
"${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")
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")
install(
TARGETS
cvmmap_streamer
zed_svo_to_mcap
zed_svo_to_mp4
zed_svo_grid_to_mp4
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")