refactor(zed): remove extracted offline helper tooling
Drop the offline ZED helper implementations that were moved into zed-offline-tools.\n\nThis removes the standalone conversion binaries, batch/index/inspection scripts, related configs and tests, and the tool-specific support code that no longer belongs in cvmmap-streamer.\n\nThe build files and docs are updated to point at the standalone repo while keeping the streamer runtime surface intact.
This commit is contained in:
-186
@@ -8,11 +8,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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include(GNUInstallDirs)
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option(
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CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4
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"Build the OpenCV-based zed_svo_grid_to_mp4 tool"
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ON)
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find_package(Threads REQUIRED)
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find_package(OpenSSL REQUIRED)
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if (NOT TARGET OpenSSL::SSL AND DEFINED OPENSSL_SSL_LIBRARY)
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@@ -80,34 +75,6 @@ find_package(spdlog REQUIRED)
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find_package(Protobuf REQUIRED)
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find_package(PkgConfig REQUIRED)
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find_package(rvl CONFIG QUIET)
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set(ZED_DIR "/usr/local/zed" CACHE PATH "Path to the local ZED SDK")
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find_package(ZED QUIET)
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set(CVMMAP_HAS_ZED_SDK OFF)
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if (ZED_FOUND)
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find_package(CUDA ${ZED_CUDA_VERSION} REQUIRED)
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find_library(CVMMAP_STREAMER_LIBUSB_LIBRARY NAMES usb-1.0 libusb-1.0)
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if (CVMMAP_STREAMER_LIBUSB_LIBRARY)
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set(_CVMMAP_STREAMER_ZED_LIBRARIES "")
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foreach(_zed_lib IN LISTS ZED_LIBRARIES)
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if (_zed_lib STREQUAL "/usr/lib/x86_64-linux-gnu/libusb-1.0.so")
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list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${CVMMAP_STREAMER_LIBUSB_LIBRARY}")
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else()
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list(APPEND _CVMMAP_STREAMER_ZED_LIBRARIES "${_zed_lib}")
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endif()
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endforeach()
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set(ZED_LIBRARIES "${_CVMMAP_STREAMER_ZED_LIBRARIES}")
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endif()
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set(CVMMAP_HAS_ZED_SDK ON)
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message(STATUS "ZED SDK found: enabling zed_svo_to_mcap and zed_svo_to_mp4")
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else()
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message(STATUS "ZED SDK not found: skipping ZED conversion tools")
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endif()
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if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4 AND CVMMAP_HAS_ZED_SDK)
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find_package(OpenCV REQUIRED COMPONENTS core imgproc)
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elseif (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
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message(STATUS "CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4=ON but ZED SDK is unavailable; zed_svo_grid_to_mp4 will not be built")
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endif()
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add_subdirectory(third_party)
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@@ -396,160 +363,7 @@ set_target_properties(mcap_replay_tester PROPERTIES
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OUTPUT_NAME "mcap_replay_tester"
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RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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add_executable(mcap_video_bounds src/tools/mcap_video_bounds.cpp)
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target_include_directories(mcap_video_bounds
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PRIVATE
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}")
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target_link_libraries(mcap_video_bounds
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PRIVATE
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CLI11::CLI11
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cvmmap_streamer_foxglove_proto
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cvmmap_streamer_mcap_runtime
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mcap::mcap
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PkgConfig::ZSTD
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PkgConfig::LZ4)
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if (TARGET spdlog::spdlog)
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target_link_libraries(mcap_video_bounds PRIVATE spdlog::spdlog)
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elseif (TARGET spdlog)
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target_link_libraries(mcap_video_bounds PRIVATE spdlog)
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endif()
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target_link_libraries(mcap_video_bounds PRIVATE cvmmap_streamer_protobuf)
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if (TARGET PkgConfig::PROTOBUF_PKG)
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target_link_libraries(mcap_video_bounds PRIVATE PkgConfig::PROTOBUF_PKG)
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endif()
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set_target_properties(mcap_video_bounds PROPERTIES
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OUTPUT_NAME "mcap_video_bounds"
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RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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set(CVMMAP_STREAMER_INSTALL_TARGETS cvmmap_streamer)
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list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS mcap_video_bounds)
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if (CVMMAP_HAS_ZED_SDK)
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add_library(
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cvmmap_streamer_zed_progress_support
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STATIC
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src/tools/zed_progress_bar.cpp)
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target_include_directories(cvmmap_streamer_zed_progress_support
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PUBLIC
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}")
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add_executable(
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zed_svo_to_mcap
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src/tools/zed_svo_to_mcap.cpp
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src/config/runtime_config.cpp)
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target_include_directories(zed_svo_to_mcap
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PRIVATE
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}"
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${ZED_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS})
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target_link_directories(zed_svo_to_mcap
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PRIVATE
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${ZED_LIBRARY_DIR}
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${CUDA_LIBRARY_DIRS})
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target_link_libraries(zed_svo_to_mcap
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PRIVATE
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cvmmap_streamer_zed_progress_support
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cvmmap_streamer_record_support
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CLI11::CLI11
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tomlplusplus::tomlplusplus
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${ZED_LIBRARIES}
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${CUDA_CUDA_LIBRARY}
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${CUDA_CUDART_LIBRARY})
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if (TARGET spdlog::spdlog)
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target_link_libraries(zed_svo_to_mcap PRIVATE spdlog::spdlog)
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elseif (TARGET spdlog)
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target_link_libraries(zed_svo_to_mcap PRIVATE spdlog)
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endif()
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set_target_properties(zed_svo_to_mcap PROPERTIES
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OUTPUT_NAME "zed_svo_to_mcap"
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RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mcap)
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add_library(
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cvmmap_streamer_zed_svo_mp4_support
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STATIC
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src/tools/zed_svo_mp4_support.cpp)
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target_include_directories(cvmmap_streamer_zed_svo_mp4_support
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PUBLIC
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}")
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target_link_libraries(cvmmap_streamer_zed_svo_mp4_support
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PUBLIC
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PkgConfig::FFMPEG)
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if (TARGET spdlog::spdlog)
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target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog::spdlog)
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elseif (TARGET spdlog)
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target_link_libraries(cvmmap_streamer_zed_svo_mp4_support PUBLIC spdlog)
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endif()
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add_executable(
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zed_svo_to_mp4
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src/tools/zed_svo_to_mp4.cpp)
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target_include_directories(zed_svo_to_mp4
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PRIVATE
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}"
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${ZED_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS})
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target_link_directories(zed_svo_to_mp4
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PRIVATE
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${ZED_LIBRARY_DIR}
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${CUDA_LIBRARY_DIRS})
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target_link_libraries(zed_svo_to_mp4
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PRIVATE
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CLI11::CLI11
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cvmmap_streamer_zed_progress_support
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cvmmap_streamer_zed_svo_mp4_support
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${ZED_LIBRARIES}
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${CUDA_CUDA_LIBRARY}
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${CUDA_CUDART_LIBRARY})
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if (TARGET spdlog::spdlog)
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target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog::spdlog)
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elseif (TARGET spdlog)
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target_link_libraries(zed_svo_to_mp4 PRIVATE spdlog)
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endif()
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set_target_properties(zed_svo_to_mp4 PROPERTIES
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OUTPUT_NAME "zed_svo_to_mp4"
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RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_to_mp4)
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if (CVMMAP_BUILD_ZED_SVO_GRID_TO_MP4)
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add_executable(
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zed_svo_grid_to_mp4
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src/tools/zed_svo_grid_to_mp4.cpp)
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target_include_directories(zed_svo_grid_to_mp4
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PRIVATE
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"${CMAKE_CURRENT_LIST_DIR}/include"
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"${CMAKE_CURRENT_BINARY_DIR}"
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${ZED_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS})
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target_link_directories(zed_svo_grid_to_mp4
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PRIVATE
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${ZED_LIBRARY_DIR}
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${CUDA_LIBRARY_DIRS})
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target_link_libraries(zed_svo_grid_to_mp4
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PRIVATE
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CLI11::CLI11
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cvmmap_streamer_zed_progress_support
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cvmmap_streamer_zed_svo_mp4_support
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${ZED_LIBRARIES}
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${CUDA_CUDA_LIBRARY}
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${CUDA_CUDART_LIBRARY}
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${OpenCV_LIBS})
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if (TARGET spdlog::spdlog)
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target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog::spdlog)
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elseif (TARGET spdlog)
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target_link_libraries(zed_svo_grid_to_mp4 PRIVATE spdlog)
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endif()
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set_target_properties(zed_svo_grid_to_mp4 PROPERTIES
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OUTPUT_NAME "zed_svo_grid_to_mp4"
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RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
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list(APPEND CVMMAP_STREAMER_INSTALL_TARGETS zed_svo_grid_to_mp4)
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endif()
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endif()
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install(
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TARGETS ${CVMMAP_STREAMER_INSTALL_TARGETS}
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