crosstyan/cvmmap-streamer
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cvmmap-streamer/CMakeLists.txt
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CMake
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cmake_minimum_required(VERSION 3.20)
project(cvmmap-streamer LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 23)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
find_package(Threads REQUIRED)
find_package(cppzmq QUIET)
if (DEFINED CVMMAP_STREAMER_USE_SYSTEM_CNATS)
message(FATAL_ERROR
"CVMMAP_STREAMER_USE_SYSTEM_CNATS was removed; use CVMMAP_CNATS_PROVIDER=system")
endif()
set(
CVMMAP_CNATS_PROVIDER
"system"
CACHE STRING
"How to resolve cnats: system or workspace")
set_property(CACHE CVMMAP_CNATS_PROVIDER PROPERTY STRINGS system workspace)
set(_CVMMAP_STREAMER_CNATS_PROVIDER_VALUES system workspace)
list(FIND _CVMMAP_STREAMER_CNATS_PROVIDER_VALUES "${CVMMAP_CNATS_PROVIDER}" _CVMMAP_STREAMER_CNATS_PROVIDER_INDEX)
if (_CVMMAP_STREAMER_CNATS_PROVIDER_INDEX EQUAL -1)
message(FATAL_ERROR
"Invalid CVMMAP_CNATS_PROVIDER='${CVMMAP_CNATS_PROVIDER}' (expected: system|workspace)")
endif()
set(CVMMAP_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../cv-mmap" CACHE PATH "Path to a local cv-mmap checkout")
set(CVMMAP_LOCAL_BUILD "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cv-mmap build artifacts")
set(CVMMAP_LOCAL_CORE_DIR "${CVMMAP_LOCAL_ROOT}/build/core" CACHE PATH "Path to local cvmmap-core package config")
set(CVMMAP_LOCAL_NATS_STATIC "${CVMMAP_LOCAL_ROOT}/build/lib/libnats_static.a" CACHE PATH "Path to local cnats static library")
if (CVMMAP_CNATS_PROVIDER STREQUAL "system")
find_package(cnats CONFIG REQUIRED)
find_package(cvmmap-core CONFIG QUIET)
else()
if (NOT EXISTS "${CVMMAP_LOCAL_NATS_STATIC}")
message(FATAL_ERROR
"workspace cnats provider requires ${CVMMAP_LOCAL_NATS_STATIC}")
endif()
find_package(OpenSSL REQUIRED)
if (NOT TARGET cnats::nats_static)
add_library(cnats::nats_static STATIC IMPORTED GLOBAL)
set_target_properties(cnats::nats_static PROPERTIES
IMPORTED_LOCATION "${CVMMAP_LOCAL_NATS_STATIC}"
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/third_party/nats.c/src"
INTERFACE_LINK_LIBRARIES "OpenSSL::SSL;OpenSSL::Crypto;Threads::Threads")
endif()
endif()
find_package(ZeroMQ QUIET)
find_package(spdlog REQUIRED)
find_package(Protobuf REQUIRED)
find_package(PkgConfig REQUIRED)
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}")
endif()
add_subdirectory(third_party)
pkg_check_modules(FFMPEG REQUIRED IMPORTED_TARGET libavcodec libavformat libavutil libswscale)
pkg_check_modules(PROTOBUF_PKG QUIET IMPORTED_TARGET protobuf)
pkg_check_modules(ZSTD REQUIRED IMPORTED_TARGET libzstd)
pkg_check_modules(LZ4 REQUIRED IMPORTED_TARGET liblz4)
if (NOT TARGET cvmmap::client)
if (
EXISTS "${CVMMAP_LOCAL_ROOT}/core/include/cvmmap/client.hpp"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a"
AND EXISTS "${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a")
add_library(cvmmap::nats INTERFACE IMPORTED)
add_library(cvmmap::client INTERFACE IMPORTED)
set_target_properties(cvmmap::nats PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a;cnats::nats_static")
set_target_properties(cvmmap::client PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${CVMMAP_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${CVMMAP_LOCAL_BUILD}/libcvmmap_client.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_nats.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_proto.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_ipc.a;${CVMMAP_LOCAL_BUILD}/libcvmmap_target.a;cnats::nats_static")
else()
message(FATAL_ERROR "cvmmap::client target is unavailable and local cv-mmap build artifacts were not found")
endif()
endif()
if (NOT TARGET rvl::rvl)
set(RVL_LOCAL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../rvl_impl" CACHE PATH "Path to a local rvl_impl checkout")
set(RVL_LOCAL_BUILD "${RVL_LOCAL_ROOT}/build/core")
if (
EXISTS "${RVL_LOCAL_ROOT}/core/include/rvl/rvl.hpp"
AND EXISTS "${RVL_LOCAL_BUILD}/librvl_core.a")
add_library(rvl::rvl INTERFACE IMPORTED)
set_target_properties(rvl::rvl PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${RVL_LOCAL_ROOT}/core/include"
INTERFACE_LINK_LIBRARIES "${RVL_LOCAL_BUILD}/librvl_core.a")
else()
message(FATAL_ERROR "rvl::rvl target is unavailable and local rvl_impl build artifacts were not found")
endif()
endif()
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/proto")
add_library(cvmmap_streamer_foxglove_proto STATIC)
protobuf_generate(
TARGET cvmmap_streamer_foxglove_proto
LANGUAGE cpp
PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
PROTOS
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CompressedVideo.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/CameraCalibration.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/PoseInFrame.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Pose.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Quaternion.proto"
"${CMAKE_CURRENT_LIST_DIR}/proto/foxglove/Vector3.proto"
IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
add_library(cvmmap_streamer_depth_proto STATIC)
protobuf_generate(
TARGET cvmmap_streamer_depth_proto
LANGUAGE cpp
PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
PROTOS "${CMAKE_CURRENT_LIST_DIR}/proto/cvmmap_streamer/DepthMap.proto"
IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}")
add_library(cvmmap_streamer_protobuf INTERFACE)
target_include_directories(cvmmap_streamer_foxglove_proto
PUBLIC
"${CMAKE_CURRENT_BINARY_DIR}"
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_depth_proto
PUBLIC
"${CMAKE_CURRENT_BINARY_DIR}"
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
target_include_directories(cvmmap_streamer_protobuf
INTERFACE
"${CMAKE_CURRENT_BINARY_DIR}/proto"
${Protobuf_INCLUDE_DIRS})
if (TARGET protobuf::libprotobuf)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE protobuf::libprotobuf)
elseif (TARGET Protobuf::libprotobuf)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE Protobuf::libprotobuf)
else()
target_link_libraries(cvmmap_streamer_protobuf INTERFACE ${Protobuf_LIBRARIES})
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(cvmmap_streamer_protobuf INTERFACE PkgConfig::PROTOBUF_PKG)
endif()
target_link_libraries(cvmmap_streamer_foxglove_proto PUBLIC cvmmap_streamer_protobuf)
target_link_libraries(cvmmap_streamer_depth_proto PUBLIC cvmmap_streamer_protobuf)
add_library(cvmmap_streamer_mcap_runtime STATIC
src/record/mcap_runtime.cpp)
target_include_directories(cvmmap_streamer_mcap_runtime
PUBLIC)
target_link_libraries(cvmmap_streamer_mcap_runtime
PUBLIC
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
add_library(cvmmap_streamer_record_support STATIC
src/encode/encoder_backend.cpp
src/encode/ffmpeg_encoder_backend.cpp
src/record/protobuf_descriptor.cpp
src/record/mcap_record_sink.cpp)
target_include_directories(cvmmap_streamer_record_support
PUBLIC
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(cvmmap_streamer_record_support
PUBLIC
cvmmap_streamer_foxglove_proto
cvmmap_streamer_depth_proto
cvmmap_streamer_mcap_runtime
PkgConfig::FFMPEG
PkgConfig::ZSTD
PkgConfig::LZ4
rvl::rvl
mcap::mcap
msft_proxy4::proxy
cvmmap_streamer_protobuf)
if (TARGET spdlog::spdlog)
target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(cvmmap_streamer_record_support PUBLIC spdlog)
endif()
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(cvmmap_streamer_record_support PUBLIC PkgConfig::PROTOBUF_PKG)
endif()
add_library(cvmmap_streamer_common STATIC
src/ipc/help.cpp
src/config/runtime_config.cpp
src/core/frame_source.cpp
src/core/ingest_runtime.cpp
src/ipc/contracts.cpp
src/protocol/wire_codec.cpp
src/metrics/latency_tracker.cpp
src/pipeline/pipeline_runtime.cpp
src/protocol/rtmp_output.cpp
src/protocol/rtp_publisher.cpp)
target_include_directories(cvmmap_streamer_common
PUBLIC
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
set(CVMMAP_STREAMER_LINK_DEPS
Threads::Threads
cvmmap_streamer_record_support
PkgConfig::FFMPEG
PkgConfig::ZSTD
PkgConfig::LZ4
cvmmap::client
cvmmap::nats
CLI11::CLI11
tomlplusplus::tomlplusplus
mcap::mcap)
if (TARGET cppzmq::cppzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq::cppzmq)
elseif (TARGET cppzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS cppzmq)
endif()
if (TARGET ZeroMQ::libzmq)
list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::libzmq)
elseif (TARGET ZeroMQ::ZeroMQ)
list(APPEND CVMMAP_STREAMER_LINK_DEPS ZeroMQ::ZeroMQ)
endif()
if (TARGET spdlog::spdlog)
list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog::spdlog)
elseif (TARGET spdlog)
list(APPEND CVMMAP_STREAMER_LINK_DEPS spdlog)
endif()
list(APPEND CVMMAP_STREAMER_LINK_DEPS cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
list(APPEND CVMMAP_STREAMER_LINK_DEPS PkgConfig::PROTOBUF_PKG)
endif()
target_link_libraries(cvmmap_streamer_common PUBLIC ${CVMMAP_STREAMER_LINK_DEPS})
function(add_cvmmap_binary target source)
add_executable(${target} ${source} ${ARGN})
target_include_directories(${target}
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(${target}
PRIVATE
cvmmap_streamer_common)
set_target_properties(${target} PROPERTIES
OUTPUT_NAME "${target}"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
endfunction()
add_cvmmap_binary(cvmmap_streamer src/main_streamer.cpp)
add_cvmmap_binary(rtp_receiver_tester src/testers/rtp_receiver_tester.cpp)
add_cvmmap_binary(rtp_output_tester src/testers/rtp_output_tester.cpp)
add_cvmmap_binary(rtmp_stub_tester src/testers/rtmp_stub_tester.cpp)
add_cvmmap_binary(rtmp_output_tester src/testers/rtmp_output_tester.cpp)
add_cvmmap_binary(ipc_snapshot_tester src/testers/ipc_snapshot_tester.cpp)
add_cvmmap_binary(mcap_depth_record_tester src/testers/mcap_depth_record_tester.cpp)
add_cvmmap_binary(mcap_body_record_tester src/testers/mcap_body_record_tester.cpp)
add_cvmmap_binary(mcap_body_inspector src/testers/mcap_body_inspector.cpp)
add_cvmmap_binary(mcap_pose_record_tester src/testers/mcap_pose_record_tester.cpp)
add_executable(mcap_reader_tester src/testers/mcap_reader_tester.cpp)
target_include_directories(mcap_reader_tester
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_reader_tester
PRIVATE
CLI11::CLI11
cvmmap_streamer_foxglove_proto
cvmmap_streamer_depth_proto
cvmmap_streamer_mcap_runtime
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
target_link_libraries(mcap_reader_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(mcap_reader_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_reader_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(mcap_reader_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_reader_tester PROPERTIES
OUTPUT_NAME "mcap_reader_tester"
RUNTIME_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/bin")
add_executable(mcap_replay_tester src/testers/mcap_replay_tester.cpp)
target_include_directories(mcap_replay_tester
PRIVATE
"${CMAKE_CURRENT_LIST_DIR}/include"
"${CMAKE_CURRENT_BINARY_DIR}")
target_link_libraries(mcap_replay_tester
PRIVATE
Threads::Threads
CLI11::CLI11
cvmmap_streamer_foxglove_proto
cvmmap_streamer_mcap_runtime
mcap::mcap
PkgConfig::ZSTD
PkgConfig::LZ4)
if (TARGET spdlog::spdlog)
target_link_libraries(mcap_replay_tester PRIVATE spdlog::spdlog)
elseif (TARGET spdlog)
target_link_libraries(mcap_replay_tester PRIVATE spdlog)
endif()
target_link_libraries(mcap_replay_tester PRIVATE cvmmap_streamer_protobuf)
if (TARGET PkgConfig::PROTOBUF_PKG)
target_link_libraries(mcap_replay_tester PRIVATE PkgConfig::PROTOBUF_PKG)
endif()
set_target_properties(mcap_replay_tester PROPERTIES
OUTPUT_NAME "mcap_replay_tester"
RUNTIME_OUTPUT_DIRECTORY "${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")
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