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all : buildfolders data_recorder test calibrate calibrate_client simple_pose_test
.PHONY : help clean buildfolders
LIBRARY:=./lib/libsurvive.so
OBJDIR:=build
CC?=gcc
CFLAGS+=-Iinclude/libsurvive -fPIC -g -O3 -Iredist -DUSE_DOUBLE -std=gnu99 -rdynamic -MD
ifdef EXTRA_WARNINGS
CFLAGS+=-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses
endif
LDFLAGS+=-L/usr/local/lib -lpthread -lz -lm -g -llapacke -lcblas -lm
LDFLAGS_TOOLS+=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
SBA:=redist/sba/sba_chkjac.c redist/sba/sba_crsm.c redist/sba/sba_lapack.c redist/sba/sba_levmar.c redist/sba/sba_levmar_wrap.c redist/minimal_opencv.c src/poser_epnp.c src/poser_sba.c src/epnp/epnp.c
LIBSURVIVE_CORE:=src/survive.c src/survive_process.c src/ootx_decoder.c src/survive_driverman.c src/survive_default_devices.c src/survive_playback.c src/survive_config.c src/survive_cal.c src/poser.c src/survive_sensor_activations.c src/survive_disambiguator.c src/survive_imu.c
MINIMAL_NEEDED:=src/survive_usb.c src/survive_charlesbiguator.c src/survive_vive.c src/survive_reproject.c
AUX_NEEDED:=src/survive_turveybiguator.c src/survive_statebased_disambiguator.c
POSERS:=src/poser_dummy.c src/poser_imu.c src/poser_charlesrefine.c
EXTRA_POSERS:=src/poser_daveortho.c src/poser_charlesslow.c src/poser_octavioradii.c src/poser_turveytori.c
REDISTS:=redist/json_helpers.c redist/linmath.c redist/jsmn.c
ifdef MINIMAL
LIBSURVIVE_C:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED)
else
LIBSURVIVE_C:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED)
endif
LIBSURVIVE_O:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.o)
LIBSURVIVE_D:=$(LIBSURVIVE_C:%.c=$(OBJDIR)/%.d)
-include $(LIBSURVIVE_D)
#----------
# Platform specific changes to CFLAGS/LDFLAGS
#----------
UNAME=$(shell uname)
# Mac OSX
ifeq ($(UNAME), Darwin)
CFLAGS:=$(CFLAGS) -DRASTERIZER -DHIDAPI -I/usr/local/include -x objective-c
LDFLAGS:=$(LDFLAGS) -framework OpenGL -framework Cocoa -framework IOKit
DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGCocoaNSImageDriver.m
GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CNFGCocoaNSImageDriver.o
# Linux / FreeBSD
else
LDFLAGS:=$(LDFLAGS) -lX11 -lusb-1.0
DRAWFUNCTIONS=redist/CNFGFunctions.c redist/CNFGXDriver.c redist/CNFG3D.c
GRAPHICS_LOFI:=redist/CNFGFunctions.o redist/CNFGXDriver.o
endif
ifeq ($(UNAME), Darwin)
REDISTS:=$(REDISTS) redist/hid-osx.c
endif
ifdef LINUX_USE_HIDAPI
CFLAGS:=$(CFLAGS) -DHIDAPI
REDISTS:=$(REDISTS) redist/hid-linux.o
LDFLAGS:=$(LDFLAGS) -ludev
endif
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 " CFLAGS= Specify additional CFLAGS."
@echo " LDFLAGS= Specify additional LDFLAGS."
@echo " CC= Specify
@echo " Useful Preprocessor Directives:"
@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.."
testCocoa : testCocoa.c $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
test : test.c $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS) $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
data_recorder : data_recorder.c $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
calibrate_client : calibrate_client.c $(GRAPHICS_LOFI) $(LIBRARY)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
## Still not working!!! Don't use.
static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C) $(LIBRARY)
tcc -o $@ $^ $(LDFLAGS_TOOLS) $(LDFLAGS) -DTCC
./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)
$(OBJDIR):
mkdir -p lib
mkdir -p $(OBJDIR)
mkdir -p $(OBJDIR)/src
mkdir -p $(OBJDIR)/redist
mkdir -p $(OBJDIR)/redist/sba
mkdir -p $(OBJDIR)/src/epnp
$(LIBRARY): $(LIBSURVIVE_O) $(OBJDIR)
$(CC) -o $@ $(LIBSURVIVE_O) $(CFLAGS) $(LDFLAGS) -shared
$(OBJDIR)/%.o : %.c $(OBJDIR)
$(CC) -c -o $@ $< $(CFLAGS)
calibrate_tcc : $(LIBSURVIVE_C)
tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
clean :
rm -rf */*/*.o *.o src/*.o $(OBJDIR) *~ 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
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