This is based off of the Stereolabs ZED Spatial Mapping sample
The major changes are that options are parameterized and outputs are cleaned up. The motivation is that the basic ZEDfu program seems to not have spatial memory turned on which causes issues in building models.
Open a terminal in the sample directory and execute the following command:
mkdir build
cd build
cmake ..
make
The build.sh script does essentially this and lauches the program.