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all : lib data_recorder test calibrate calibrate_client simple_pose_test
CC?=gcc
CFLAGS:=-Iinclude/libsurvive -fPIC -g -Os -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic #-fsanitize=address -fsanitize=undefined -Wall -Wno-unused-variable -Wno-switch -Wno-unused-but-set-variable -Wno-pointer-sign -Wno-parentheses
CFLAGS_RELEASE:=-Iinclude/libsurvive -fPIC -msse2 -ftree-vectorize -Os -Iredist -flto -DUSE_DOUBLE -std=gnu99 -rdynamic
#LDFLAGS:=-L/usr/local/lib -lpthread -lusb-1.0 -lz -lm -flto -g
LDFLAGS:=-L/usr/local/lib -lpthread -lz -lm -flto -g -llapacke -lcblas -lm #
LDFLAGS_TOOLS:=-Llib -lsurvive -Wl,-rpath,lib -lX11 $(LDFLAGS)
SBA:=redist/sba/sba_chkjac.o redist/sba/sba_crsm.o redist/sba/sba_lapack.o redist/sba/sba_levmar.o redist/sba/sba_levmar_wrap.o redist/minimal_opencv.o src/poser_epnp.o src/poser_sba.o src/epnp/epnp.o
LIBSURVIVE_CORE:=src/survive.o src/survive_process.o src/ootx_decoder.o src/survive_driverman.o src/survive_default_devices.o src/survive_playback.o src/survive_config.o src/survive_cal.o src/poser.o src/survive_sensor_activations.o src/survive_disambiguator.o src/survive_imu.o
MINIMAL_NEEDED:=src/survive_usb.o src/survive_charlesbiguator.o src/survive_vive.o src/poser_charlesrefine.o src/survive_reproject.o
AUX_NEEDED:=src/survive_turveybiguator.o src/survive_statebased_disambiguator.o
POSERS:=src/poser_dummy.o src/poser_daveortho.o src/poser_charlesslow.o src/poser_octavioradii.o src/poser_turveytori.o src/poser_imu.o
REDISTS:=redist/json_helpers.o redist/linmath.o redist/jsmn.o
ifeq ($(BUILD), MINIMAL)
LIBSURVIVE_O:=$(REDISTS) $(LIBSURVIVE_CORE) $(MINIMAL_NEEDED)
LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
else
LIBSURVIVE_O:=$(POSERS) $(REDISTS) $(LIBSURVIVE_CORE) $(SBA) $(MINIMAL_NEEDED) $(AUX_NEEDED)
LIBSURVIVE_C:=$(LIBSURVIVE_O:.o=.c)
endif
#----------
# 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:=$(REDISTS) redist/hid-osx.c
endif
#If you want to use HIDAPI on Linux.
#CFLAGS:=$(CFLAGS) -DHIDAPI
#REDISTS:=$(REDISTS) redist/hid-linux.o
#LDFLAGS:=$(LDFLAGS) -ludev
#Useful Preprocessor Directives:
# -DUSE_DOUBLE = use double instead of float for most operations.
# -DNOZLIB = use puff.c
# -DTCC = various things needed for TCC.
# -DWINDOWS -DWIN32 = Building for Windows
# -DHIDAPI = Build vive driver to use USBHID instead of interrupt/control messages.
# -DRUNTIME_SYMNUM = Don't assume __attribute__((constructor)) works. Instead comb for anything starting with REGISTER.
# unused: redist/crc32.c
testCocoa : testCocoa.c
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
test : test.c
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
simple_pose_test : simple_pose_test.c $(DRAWFUNCTIONS)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
data_recorder : data_recorder.c
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
calibrate : calibrate.c $(DRAWFUNCTIONS)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
calibrate_client : calibrate_client.c $(GRAPHICS_LOFI)
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
## Still not working!!! Don't use.
static_calibrate : calibrate.c $(DRAWFUNCTIONS) $(LIBSURVIVE_C)
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_RELEASE) -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 ./lib/libsurvive.so
$(CC) -o $@ $^ $(LDFLAGS_TOOLS) $(CFLAGS)
test_epnp: ./src/epnp/test_epnp.c ./lib/libsurvive.so
$(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)
lib:
mkdir lib
lib/libsurvive.so : $(LIBSURVIVE_O)
$(CC) -o $@ $^ $(LDFLAGS) -shared
calibrate_tcc : $(LIBSURVIVE_C)
tcc -DRUNTIME_SYMNUM $(CFLAGS) -o $@ $^ $(LDFLAGS) calibrate.c $(DRAWFUNCTIONS) redist/symbol_enumerator.c
clean :
rm -rf */*/*.o *.o src/*.o *~ 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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