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[feat] Add MCAP reader

Timothée Couble requested to merge feat/addMCAPReader into master

Todo next:

  • Add externals lib in superbuild (fastcdr, zstd, lz4)
  • Add in superbuild to be packaged with LidarView
  • Emulated time support?

Related to LidarView/lidarview-superbuild!125 (merged)

Edited by Timothée Couble

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