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include choose_mrbuild.mk
include $(MRBUILD_MK)/Makefile.common.header
# "0" or undefined means "false"
# everything else means "true"
# libelas stereo matcher. Available in Debian/non-free. I don't want to depend
# on anything in non-free, so I default to not using libelas
USE_LIBELAS ?= 0
# If true, we compile libstb into image.o and libmrcal.so. If false, we link to
# an external libstb.so. We default to building it ourselves on macos and using
# the library otherwise
USE_LOCAL_STB_IMPLEMENTATION ?= $(COND_DARWIN)
# convert all USE_XXX:=0 to an empty string
$(foreach v,$(filter USE_%,$(.VARIABLES)),$(if $(filter 0,${$v}),$(eval $v :=)))
# to print them all: $(foreach v,$(filter USE_%,$(.VARIABLES)),$(warning $v = '${$v}'))
PROJECT_NAME := mrcal
ABI_VERSION := 5
TAIL_VERSION := 0
VERSION = $(VERSION_FROM_PROJECT)
LIB_SOURCES += \
mrcal.c \
opencv.c \
uncertainty.c \
image.c \
stereo.c \
poseutils.c \
poseutils-opencv.c \
poseutils-uses-autodiff.cc \
triangulation.cc \
cahvore.cc \
traverse-sensor-links.c \
heap.cc \
python-cameramodel-converter.c
ifneq (${USE_LIBELAS},) # using libelas
LIB_SOURCES := $(LIB_SOURCES) stereo-matching-libelas.cc
endif
ifneq ($(USE_LOCAL_STB_IMPLEMENTATION),)
image.o: CFLAGS += -DSTB_IMAGE_IMPLEMENTATION=1
endif
BIN_SOURCES += \
test/test-gradients.c \
test/test-cahvor.c \
test/test-lensmodel-string-manipulation.c \
test/test-parser-cameramodel.c \
test/test-heap.c
LDLIBS += -ldogleg $(if $(USE_LOCAL_STB_IMPLEMENTATION),,-lstb) -lpng -ljpeg -llapack
ifneq (${USE_LIBELAS},) # using libelas
LDLIBS += -lelas
endif
CFLAGS += --std=gnu99
CCXXFLAGS += -Wno-missing-field-initializers -Wno-unused-variable -Wno-unused-parameter -Wno-missing-braces
$(patsubst %.c,%.o,$(shell grep -l '#include .*minimath\.h' *.c */*.c)): minimath/minimath_generated.h
minimath/minimath_generated.h: minimath/minimath_generate.pl
./$< > $@.tmp && mv $@.tmp $@
EXTRA_CLEAN += minimath/minimath_generated.h
DIST_INCLUDE += \
mrcal.h \
image.h \
internal.h \
basic-geometry.h \
poseutils.h \
triangulation.h \
types.h \
stereo.h \
heap.h \
python-cameramodel-converter.h
DIST_BIN := \
mrcal-calibrate-cameras \
mrcal-convert-lensmodel \
mrcal-show-distortion-off-pinhole \
mrcal-show-splined-model-correction \
mrcal-show-projection-uncertainty \
mrcal-show-projection-diff \
mrcal-show-model-resolution \
mrcal-show-stereo-pair-diff \
mrcal-reproject-points \
mrcal-reproject-image \
mrcal-graft-models \
mrcal-to-cahvor \
mrcal-from-cahvor \
mrcal-to-kalibr \
mrcal-from-kalibr \
mrcal-from-ros \
mrcal-show-geometry \
mrcal-show-valid-intrinsics-region \
mrcal-is-within-valid-intrinsics-region \
mrcal-triangulate \
mrcal-cull-corners \
mrcal-show-residuals-board-observation \
mrcal-show-residuals \
mrcal-stereo
# generate manpages from distributed binaries, and ship them. This is a hoaky
# hack because apparenly manpages from python tools is a crazy thing to want to
# do
DIST_MAN := $(addsuffix .1,$(DIST_BIN))
# if using an older mrbuild SO won't be defined, and we need it
SO ?= so
# parser
cameramodel-parser_GENERATED.c: cameramodel-parser.re mrcal.h
re2c $< > $@.tmp && mv $@.tmp $@
LIB_SOURCES += cameramodel-parser_GENERATED.c
EXTRA_CLEAN += cameramodel-parser_GENERATED.c
cameramodel-parser_GENERATED.o: CCXXFLAGS += -fno-fast-math
ALL_NPSP_EXTENSION_MODULES := $(patsubst %-genpywrap.py,%,$(wildcard *-genpywrap.py))
ifeq (${USE_LIBELAS},) # not using libelas
ALL_NPSP_EXTENSION_MODULES := $(filter-out elas,$(ALL_NPSP_EXTENSION_MODULES))
endif
ALL_PY_EXTENSION_MODULES := _mrcal $(patsubst %,_%_npsp,$(ALL_NPSP_EXTENSION_MODULES))
%/:
mkdir -p $@
######### python stuff
# python-cameramodel-converter contains a utility function for external Python
# wrapping. I link this into libmrcal.so, but libmrcal.so does NOT link with
# libpython. 99% of the usage of libmrcal.so will not use this, so it should
# work without libpython. People using this function will be doing so as part of
# PyArg_ParseTupleAndKeywords(), so they will be linking to libpython anyway.
# Thus I weaken all the references to libpython here. c_build_rule is the
# default logic in mrbuild
#
# This is a DEEP rabbithole. With Debian/trixie (released summer 2025) objcopy
# --weaken works to weaken the symbols after compiling. With older objcopy (not
# sure which), the objcopy command completes successfully, but it doesn't
# actually weaken the symbols. I thus run nm to find the non-weakened symbols;
# if any remain, I recompile, explicitly telling the linker about the weak
# linkage on these symbols. I can't do this on the first pass because before
# compiling even once I don't know which Py symbols I'm going to get (some are
# generated by the Python internals).
#
# On macos there're more details: there is no objcopy and nm works slightly
# differently and the linker has to be explicitly be told to not worry about the
# undefined symbols. Here I allow objcopy to fail (the symbols will be weakened
# on the second pass, as with a tool-old objcopy), and I make sure to invoke nm
# in a way that will work on both macos and Linux (the options and output
# formatting varies a bit).
ifneq ($(COND_DARWIN),)
libmrcal.$(SO): LDFLAGS += -Wl,-undefined,dynamic_lookup
endif
python-cameramodel-converter.o: CFLAGS += -fno-lto # LTO breaks the WEAKEN_PY_REFS thing, so I make sure to turn it off
python-cameramodel-converter.o: %.o:%.c
$(c_build_rule) && mv $@ _$@
$(OBJCOPY) --wildcard --weaken-symbol='Py*' --weaken-symbol='_Py*' _$@ 2>&1 || true
$(NM) -u _$@ | awk '$$1 != "w" && $$NF ~ "Py" { print $$NF }' > python-cameramodel-converter-py-symbol-refs
if [ -s python-cameramodel-converter-py-symbol-refs ]; then \
< python-cameramodel-converter-py-symbol-refs \
awk 'BEGIN {ORS=""; print "#define PY_REFS(_) " } {print "_("$$1") "} ' \
> python-cameramodel-converter-py-symbol-refs.h \
&& \
$(c_build_rule) -DWEAKEN_PY_REFS; \
else \
mv _$@ $@; \
fi
EXTRA_CLEAN += \
python-cameramodel-converter-py-symbol-refs \
python-cameramodel-converter-py-symbol-refs.h \
_*python-cameramodel-converter.o
%-npsp-pywrap-GENERATED.c: %-genpywrap.py
python3 $< > $@.tmp && mv $@.tmp $@
mrcal/_%_npsp$(PY_EXT_SUFFIX): %-npsp-pywrap-GENERATED.o libmrcal.$(SO) libmrcal.$(SO).${ABI_VERSION}
$(PY_MRBUILD_LINKER) $(PY_MRBUILD_LDFLAGS) $(LDFLAGS) $< -lmrcal -o $@
ALL_NPSP_C := $(patsubst %,%-npsp-pywrap-GENERATED.c,$(ALL_NPSP_EXTENSION_MODULES))
ALL_NPSP_O := $(patsubst %,%-npsp-pywrap-GENERATED.o,$(ALL_NPSP_EXTENSION_MODULES))
ALL_NPSP_SO := $(patsubst %,mrcal/_%_npsp$(PY_EXT_SUFFIX),$(ALL_NPSP_EXTENSION_MODULES))
EXTRA_CLEAN += $(ALL_NPSP_C)
# https://gcc.gnu.org/bugzilla/show_bug.cgi?id=95635
$(ALL_NPSP_O): CFLAGS += -Wno-array-bounds
mrcal-pywrap.o: $(addsuffix .h,$(wildcard *.docstring))
mrcal/_mrcal$(PY_EXT_SUFFIX): mrcal-pywrap.o libmrcal.$(SO) libmrcal.$(SO).${ABI_VERSION}
$(PY_MRBUILD_LINKER) $(PY_MRBUILD_LDFLAGS) $(LDFLAGS) $< -lmrcal -lsuitesparseconfig -o $@
PYTHON_OBJECTS := mrcal-pywrap.o python-cameramodel-converter.o $(ALL_NPSP_O)
$(PYTHON_OBJECTS): CFLAGS += $(PY_MRBUILD_CFLAGS)
# The python libraries (compiled ones and ones written in python) all live in
# mrcal/
DIST_PY3_MODULES := mrcal
all: mrcal/_mrcal$(PY_EXT_SUFFIX) $(ALL_NPSP_SO)
EXTRA_CLEAN += mrcal/*$(PY_EXT_SUFFIX)
TESTS_ALL_TARGETS := test-all test-nosampling test-triangulation-uncertainty test-external-data
$(TESTS_ALL_TARGETS): all
./test.sh $@
.PHONY: $(TESTS_ALL_TARGETS)
test:
@echo "Which test set should we run? I know about '$(TESTS_ALL_TARGETS)'" > /dev/stderr; false
.PHONY: test
include Makefile.doc
include $(MRBUILD_MK)/Makefile.common.footer
# to work with mrbuild < 1.14
OBJCOPY ?= objcopy
|
