diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5ade442..4171dab 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,11 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 include(GNUInstallDirs)
 
+option(
+	CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4
+	"Build the OpenCV-based zed_svo_grid_to_mp4 tool"
+	ON)
+
 find_package(Threads REQUIRED)
 find_package(cppzmq QUIET)
 if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
@@ -51,7 +56,9 @@ find_package(ZeroMQ QUIET)
 find_package(spdlog REQUIRED)
 find_package(Protobuf REQUIRED)
 find_package(PkgConfig REQUIRED)
-find_package(OpenCV REQUIRED COMPONENTS core imgproc)
+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)
@@ -412,41 +419,49 @@ 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}
-		${OpenCV_LIBS})
-if (TARGET spdlog::spdlog)
-	target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog::spdlog)
-elseif (TARGET spdlog)
-	target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog)
+if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+	add_executable(
+		zed_svo_grid_to_mp4
+		src/tools/zed_svo_grid_to_mp4.cpp)
+	target_include_directories(zed_svo_grid_to_mp4
+		PRIVATE
+			"${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")
 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 "${CMAKE_INSTALL_BINDIR}")
+
+if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
+	install(
+		TARGETS
+			zed_svo_grid_to_mp4
+		RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}")
+endif()