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LIBRARY:=./lib/libsurvive.so
STATIC_LIBRARY:=./lib/libsurvive.a
all : $(STATIC_LIBRARY) $(LIBRARY) data_recorder test calibrate calibrate_client simple_pose_test
@echo "Built with defaults. Type 'make help' for more info."
.PHONY : help clean buildfolders
OBJDIR:=build
CFLAGS += -Wall -Wno-unused-variable -Wno-switch -Wno-parentheses -Wno-missing-braces
ifdef WINDOWS
CFLAGS+=-Iinclude/libsurvive -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -MD -DNOZLIB -DWINDOWS -DWIN32 -DHIDAPI
LDFLAGS+=-L/usr/local/lib -lpthread -g -lm -lsetupapi -lkernel32 -ldbghelp -lgdi32
LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
LIBSURVIVE_CORE:=redist/puff.c redist/crc32.c redist/hid-windows.c winbuild/getdelim.c
CC:=i686-w64-mingw32-gcc
else
CFLAGS+=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -MD
LDFLAGS+=-L/usr/local/lib -lpthread -lz -lm -g -llapacke -lcblas -lm -lusb-1.0
LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
endif
CC?=gcc
ifdef USE_ASAN
CFLAGS+=-fsanitize=address -fsanitize=undefined
endif
SBA:=redist/sba/sba_chkjac.c redist/sba/sba_crsm.c redist/sba/sba_lapack.c redist/sba/sba_levmar.c redist/sba/sba_levmar_wrap.c redist/minimal_opencv.c src/poser_epnp.c src/poser_sba.c src/epnp/epnp.c src/poser_general_optimizer.c
LIBSURVIVE_CORE+=src/survive.c src/survive_process.c src/ootx_decoder.c src/survive_driverman.c src/survive_default_devices.c src/survive_playback.c src/survive_config.c src/survive_cal.c src/poser.c src/survive_sensor_activations.c src/survive_disambiguator.c src/survive_imu.c src/survive_kalman.c src/survive_api.c
MINIMAL_NEEDED+=src/survive_usb.c src/survive_charlesbiguator.c src/survive_vive.c src/survive_reproject.c
AUX_NEEDED+=src/survive_turveybiguator.c src/survive_statebased_disambiguator.c src/survive_driver_dummy.c src/survive_driver_udp.c
POSERS:=src/poser_dummy.c src/poser_imu.c src/poser_charlesrefine.c
EXTRA_POSERS:=src/poser_daveortho.c src/poser_charlesslow.c src/poser_octavioradii.c src/poser_turveytori.c
REDISTS:=redist/json_helpers.c redist/linmath.c redist/jsmn.c
#----------
# Platform specific changes to CFLAGS/LDFLAGS
#----------
UNAME=$(shell uname)
ifeq ($(UNAME), Darwin) # Mac OSX
CFLAGS:=$(CFLAGS) -DRASTERIZER -DHIDAPI -I/usr/local/include -x objective-c
LDFLAGS:=$(LDFLAGS) -framework OpenGL -framework Cocoa -framework IOKit
DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGCocoaNSImageDriver.m
GRAPHICS_LOFI:=redist/CNFGFunctions.c redist/CNFGCocoaNSImageDriver.c
REDISTS:=$(REDISTS) redist/hid-osx.c
else # Linux / FreeBSD
LDFLAGS:=$(LDFLAGS)
DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGXDriver.c redist/CNFG3D.c
GRAPHICS_LOFI:=redist/CNFGFunctions.c redist/CNFGXDriver.c
endif
ifdef LINUX_USE_HIDAPI
CFLAGS:=$(CFLAGS) -DHIDAPI
#TODO why doesn't the redist version work
#REDISTS:=$(REDISTS) redist/hid-linux.c
LDFLAGS:=$(LDFLAGS) -ludev -lhidapi-libusb
endif
ifdef MINIMAL
LIBSURVIVE_C:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED)
else
LIBSURVIVE_C:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED)
endif
#Actually make object and dependency lists.
LIBSURVIVE_O:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.o)
LIBSURVIVE_D:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.d)
#Include all dependencies so if header files change, it updates.
-include $(LIBSURVIVE_D)
#### Tools
testCocoa : testCocoa.c $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
test : test.c $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS) $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
data_recorder : data_recorder.c $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
calibrate_client : calibrate_client.c $(GRAPHICS_LOFI) $(LIBRARY)
$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS_TOOLS)
#### Testers.
./redist/dclhelpers_debuggable.c : ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h
gcc -E ./redist/dclhelpers.c > ./redist/dclhelpers_debuggable.c
clang-format -i ./redist/dclhelpers_debuggable.c
sed -i 's/#/\/\/#/g' ./redist/dclhelpers_debuggable.c
test_dcl: ./redist/test_dcl.c ./redist/dclhelpers.c ./redist/dclhelpers.h ./redist/dclapack.h ./redist/minimal_opencv.c ./src/epnp/epnp.c
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double
test_dcl_debug: ./redist/test_dcl.c ./redist/dclhelpers_debuggable.c ./redist/dclhelpers.h ./redist/dclapack.h redist/os_generic.c
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS) -DFLT=double -fsanitize=address -fsanitize=undefined
test_minimal_cv: ./src/epnp/test_minimal_cv.c $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
test_epnp: ./src/epnp/test_epnp.c $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
test_epnp_ocv: ./src/epnp/test_epnp.c ./src/epnp/epnp.c
$(CC) -o $@ $^ -DWITH_OPENCV -lpthread -lz -lm -flto -g -lX11 -lusb-1.0 -Iinclude/libsurvive -fPIC -g -O4 -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic -fsanitize=address -fsanitize=undefined -llapack -lm -lopencv_core $(LDFLAGS_TOOLS)
#### Actual build system.
$(OBJDIR):
mkdir -p lib
mkdir -p $(OBJDIR)
mkdir -p $(OBJDIR)/winbuild
mkdir -p $(OBJDIR)/src
mkdir -p $(OBJDIR)/redist
mkdir -p $(OBJDIR)/redist/sba
mkdir -p $(OBJDIR)/src/epnp
$(LIBRARY): $(LIBSURVIVE_O) $(OBJDIR)
$(CC) $(CFLAGS) -shared -o $@ $(LIBSURVIVE_O) $(LDFLAGS)
$(STATIC_LIBRARY) : $(LIBSURVIVE_O) $(OBJDIR)
ar rcs --plugin=$$(gcc --print-file-name=liblto_plugin.so) lib/libsurvive.a $(LIBSURVIVE_O)
$(OBJDIR)/%.o : %.c $(OBJDIR)
$(CC) $(CFLAGS) -c $< -o $@
calibrate_tcc : $(LIBSURVIVE_C)
tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
clean :
rm -rf $(OBJDIR) *.d lib/libsurvive.a *~ src/*~ test simple_pose_test data_recorder calibrate testCocoa lib/libsurvive.so test_minimal_cv test_epnp test_epnp_ocv calibrate_client redist/*.o redist/*~ tools/data_server/data_server tools/lighthousefind/lighthousefind tools/lighthousefind_tori/lighthousefind-tori tools/plot_lighthouse/plot_lighthouse tools/process_rawcap/process_to_points redist/jsmntest redist/lintest
.test_redist:
cd redist && make .run_tests;
.run_tests: .test_redist
#To do this, you probably want to `make tccbatch MINIMAL=1 WINDOWS=1`
tccbatch :
echo "@echo off" > winbuild/build_tcc.bat
echo "set TCC=C:\\\\tcc\\\\tcc.exe" >> winbuild/build_tcc.bat
echo "echo USing %TCC%" >> winbuild/build_tcc.bat
echo "set EXEC=calibrate.c redist\\\\CNFGWinDriver.c redist\\\\CNFGFunctions.c" >> winbuild/build_tcc.bat
echo "set SOURCES=$(subst "/","\\",$(LIBSURVIVE_C))" >> winbuild/build_tcc.bat
echo "set CFLAGS=-DTCC $(CFLAGS)" >> winbuild/build_tcc.bat
echo "set LDFLAGS=-lkernel32 -lgdi32 -luser32" >> winbuild/build_tcc.bat
echo "@echo on" >> winbuild/build_tcc.bat
echo "%TCC% -v %CFLAGS% %SOURCES% %REDIST% %EXEC% %LDFLAGS% winbuild/tcc_stubs.c -o calibrate.exe" >> winbuild/build_tcc.bat
help :
@echo "Usage: make [flags]"
@echo " Build-system flags:"
@echo " MINIMAL=1 Buld a minimal build, geared for embedded systems."
@echo " LINUX_USE_HIDAPI=1 Build with HIDAPI in Linux instead of just libusb."
@echo " EXTRA_WARNINGS=1 Provide many mor warnings for build system."
@echo " WINDOWS=1 Cross-target Windows (EXPERIMENTAL)"
@echo " CFLAGS= Specify additional CFLAGS."
@echo " LDFLAGS= Specify additional LDFLAGS."
@echo " CC= Specify a different C compiler."
@echo " Useful Preprocessor Directives (For CFLAGS):"
@echo " -DUSE_DOUBLE Use double instead of float for most operations."
@echo " -DNOZLIB Use puff.c"
@echo " -DTCC Various things needed for TCC."
@echo " -DWINDOWS -DWIN32 Building for Windows."
@echo " -DRUNTIME_SYMNUM Don't assume __attribute__((constructor)) works. Instead comb for anything starting with REGISTER."
@echo " -flto Do link-time optimizations. This significantly increases period of time to link but improves performance.."
@echo " Useful build targets:"
@echo " all Build libsurvive.so and tools."
@echo " clean Erase build and incremental files."
@echo " buildfolders Produce build file structure."
@echo " $(LIBRARY) Produce libsurvive.so"
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