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Recommit missing mcap import #508

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Merged
JanuszBedkowski merged 2 commits into from
Sep 5, 2026
Merged

Recommit missing mcap import #508

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1ae550a
Recommit missing mcap import
michalpelka Aug 28, 2026
3b3883d
Scope McapFileReader in tests so files close before fs::remove
michalpelka Aug 31, 2026
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33 changes: 33 additions & 0 deletions apps/console_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,39 @@ target_link_libraries(
${PLATFORM_MISCELLANEOUS_LIBS}
${CORE_LIBRARIES})

# mcap_to_laz: the inverse of laz_to_mcap -- MCAP/ROS2 bag -> mandeye session
# directory. Needs neither lidar_odometry_utils.cpp nor core: reading is
# rosbags/McapReader and writing is rosbags/MandeyeSessionWriter, so laszip +
# mcap + spdlog is the whole dependency set.
#
# McapWriter.cpp is compiled in even though nothing here writes bags: it holds
# the single MCAP_IMPLEMENTATION definition, which McapReader.cpp deliberately
# does not repeat (that would be a duplicate-symbol link error in targets, like
# the unit tests, that use both).
add_executable(
mcap_to_laz mcap_to_laz.cpp
${REPOSITORY_DIRECTORY}/rosbags/McapReader.h ${REPOSITORY_DIRECTORY}/rosbags/McapReader.cpp
${REPOSITORY_DIRECTORY}/rosbags/McapWriter.h ${REPOSITORY_DIRECTORY}/rosbags/McapWriter.cpp
${REPOSITORY_DIRECTORY}/rosbags/MandeyeSessionWriter.h ${REPOSITORY_DIRECTORY}/rosbags/MandeyeSessionWriter.cpp
)

target_include_directories(
mcap_to_laz
PRIVATE ${REPOSITORY_DIRECTORY}/rosbags
${LASZIP_INCLUDE_DIR}/LASzip/include)

target_link_libraries(
mcap_to_laz
PRIVATE
mcap
spdlog::spdlog
${PLATFORM_LASZIP_LIB}
${PLATFORM_MISCELLANEOUS_LIBS})

if (MSVC)
target_compile_options(mcap_to_laz PRIVATE /bigobj)
endif()

if (MSVC)
target_compile_options(laz_to_mcap PRIVATE /bigobj)
endif()
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