src/firevision/fvconf.mk

   1 #*****************************************************************************
   2 #            Makefile Build System for Fawkes: FireVision Config
   3 #                            -------------------
   4 #   Created on Sun Jan 14 23:00:47 2007
   5 #   Copyright (C) 2006-2008 by Tim Niemueller, AllemaniACs RoboCup Team
   6 #
   7 #*****************************************************************************
   8 #
   9 #   This program is free software; you can redistribute it and/or modify
  10 #   it under the terms of the GNU General Public License as published by
  11 #   the Free Software Foundation; either version 2 of the License, or
  12 #   (at your option) any later version.
  13 #
  14 #*****************************************************************************
  15
  16 ifndef __fvconf_mk_
  17 __fvconf_mk_ := 1
  18
  19 ifndef __buildsys_config_mk_
  20 $(error config.mk must be included before fvconf.mk)
  21 endif
  22
  23 CAMS=LEUTRON FIREWIRE FILELOADER NETWORK SHMEM V4L V4L1 V4L2 BUMBLEBEE2 NAO \
  24      SWISSRANGER PIKE
  25 CTRLS=EVID100P DPPTU
  26
  27 FVBASEDIR           = $(FAWKES_BASEDIR)/src/firevision
  28 TOP_FVBASEDIR       = $(TOP_BASEDIR)/src/firevision
  29 FVCONFDIR           = $(EXEC_CONFDIR)/firevision
  30 FVLIBDIR            = $(TOP_FVBASEDIR)/libs
  31 FVEXTLIBDIR         = $(FVBASEDIR)/extlib
  32 VISION_INCDIRS      = $(realpath $(FVBASEDIR)) $(realpath $(FVLIBDIR))
  33 VISION_CFLAGS       = -D__STDC_LIMIT_MACROS -DFVCONFDIR=\"$(FVCONFDIR)\"
  34
  35 # PTGrey Triclops SDK used for Bumblebee2 stereo processing
  36 TRICLOPS_SDK=$(SYSROOT)/opt/Triclops3.2.0.8-FC3
  37
  38 ifneq ($(wildcard $(SYSROOT)/usr/include/lvsds),)
  39   HAVE_LEUTRON_CAM    = 1
  40   HAVE_VISCA_CTRL     = 1
  41   VISION_LIBDIRs     += $(SYSROOT)/usr/lib/lvsds
  42   VISION_INCDIRS     += $(SYSROOT)/usr/include/lvsds
  43   VISION_CAM_LIBS    += lvsds.34
  44 endif
  45 ifeq ($(HAVE_VISCA_CTRL),1)
  46   HAVE_EVID100P_CTRL  = 1
  47 endif
  48
  49 # check for JPEG lib
  50 ifneq ($(wildcard $(SYSROOT)/usr/include/jpeglib.h $(SYSROOT)/usr/local/include/jpeglib.h),)
  51   HAVE_LIBJPEG   = 1
  52   VISION_CFLAGS += -DHAVE_LIBJPEG
  53 endif
  54
  55 # check for PNG lib
  56 HAVE_LIBPNG = $(if $(shell $(PKGCONFIG) --exists 'libpng'; echo $${?/1/}),1,0)
  57 ifeq ($(HAVE_LIBPNG),1)
  58   CFLAGS_LIBPNG  = -DHAVE_LIBPNG $(shell $(PKGCONFIG) --cflags 'libpng')
  59   LDFLAGS_LIBPNG = $(shell $(PKGCONFIG) --libs 'libpng')
  60 endif
  61
  62 HAVE_LIBV4L2 = $(if $(shell $(PKGCONFIG) --exists 'libv4l2'; echo $${?/1/}),1,0)
  63 ifeq ($(HAVE_LIBPNG),1)
  64   CFLAGS_LIBV4L2  = -DHAVE_LIBV4L2 $(shell $(PKGCONFIG) --cflags 'libv4l2')
  65   LDFLAGS_LIBV4L2 = $(shell $(PKGCONFIG) --libs 'libv4l2')
  66 endif
  67
  68 ifneq ($(wildcard $(realpath $(SYSROOT)/usr/include/libMesaSR.h)),)
  69   HAVE_SWISSRANGER_CAM   = 1
  70   VISION_CAM_LIBS       += mesasr usb
  71 endif
  72
  73 ifneq ($(PKGCONFIG),)
  74   HAVE_LIBDC1394 = $(if $(shell $(PKGCONFIG) --exists 'libdc1394-2'; echo $${?/1/}),1,0)
  75   HAVE_SDL = $(if $(shell $(PKGCONFIG) --exists 'sdl'; echo $${?/1/}),1,0)
  76 endif
  77 ifeq ($(HAVE_LIBDC1394),1)
  78   ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/firewire.h)),)
  79     HAVE_FIREWIRE_CAM   = 1
  80     ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/bumblebee2.h)),)
  81       HAVE_BUMBLEBEE2_CAM = 1
  82     endif
  83     ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/pike.h)),)
  84       HAVE_PIKE_CAM = 1
  85     endif
  86   endif
  87   VISION_CAM_LIBS    += $(subst -l,,$(shell $(PKGCONFIG) --libs 'libdc1394-2'))
  88 endif
  89
  90 ifeq ($(HAVE_SDL),1)
  91   CFLAGS_SDL  = $(shell $(PKGCONFIG) --cflags 'sdl')
  92   LDFLAGS_SDL = $(shell $(PKGCONFIG) --libs 'sdl')
  93 endif
  94
  95 # Check if we have PGR Triclops SDK, build Bumblebee2 if we have it
  96 ifeq ($(ARCH),x86_64)
  97   TRICLOPS_SDK_ERR="Triclops SDK not available on 64-bit systems"
  98 else
  99   ifneq ($(HAVE_BUMBLEBEE2_CAM),1)
 100     TRICLOPS_SDK_ERR="Bumblebee2 camera not available"
 101   else
 102     ifneq ($(wildcard $(realpath $(TRICLOPS_SDK)/include/triclops.h)),)
 103       ifneq ($(wildcard $(realpath $(TRICLOPS_SDK)/lib/libtriclops.so)),)
 104         HAVE_TRICLOPS_SDK = 1
 105         TRICLOPS_SDK_INCDIRS += $(TRICLOPS_SDK)/include
 106         TRICLOPS_SDK_LIBDIRS += $(TRICLOPS_SDK)/lib
 107         TRICLOPS_SDK_LIBS    += triclops
 108         VISION_CFLAGS += -DHAVE_TRICLOPS_SDK
 109       else
 110         TRICLOPS_SDK_ERR = "shared lib not created, use \"make triclops\" in fvstereo"
 111       endif
 112     else
 113       TRICLOPS_SDK_ERR = "Triclops SDK not installed"
 114     endif
 115   endif
 116 endif
 117
 118 ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/net.h)),)
 119   HAVE_NETWORK_CAM    = 1
 120 endif
 121 ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/fileloader.h)),)
 122   HAVE_FILELOADER_CAM = 1
 123 endif
 124 ifneq ($(wildcard $(realpath $(FVBASEDIR)/cams/shmem.h)),)
 125   HAVE_SHMEM_CAM      = 1
 126 endif
 127
 128
 129 HAVE_DPPTU_CTRL     = 0
 130 ifeq ($(OS),Linux)
 131   HAVE_V4L_CAM        = 1
 132   HAVE_V4L1_CAM       = 1
 133   ifneq ($(wildcard $(SYSROOT)/usr/include/linux/videodev2.h),)
 134     HAVE_V4L2_CAM       = 1
 135     ifeq ($(BUILD_TYPE),naocross)
 136       HAVE_NAO_CAM      = 1
 137       VISION_CFLAGS    += $(NAOQI_CFLAGS)
 138     endif
 139   else
 140     HAVE_V4L2_FAIL_REASON = v4l2 not available, kernel too old?
 141   endif
 142 endif
 143
 144
 145 ### Need at least one of V4L 1 or 2 for V4L
 146 ifeq ($(HAVE_V4L_CAM),1)
 147   ifneq ($(HAVE_V4L1_CAM),1)
 148     ifneq ($(HAVE_V4L2_CAM),1)
 149       ERROR_TARGETS += error_V4L_CAM
 150     endif
 151   endif
 152 endif
 153
 154 ### Need V4L2 for NAO
 155 ifeq ($(HAVE_NAO_CAM),1)
 156   ifneq ($(HAVE_V4L2_CAM),1)
 157     ERROR_TARGETS += error_NAO_CAM
 158   endif
 159 endif
 160
 161 ### Check for external libraries
 162 IPP_DIR  = $(SYSROOT)/opt/intel/Compiler/11.0/081/ipp
 163 ICC_DIR  = $(SYSROOT)/opt/intel/Compiler/11.0/081/
 164 HAVE_IPP = 0
 165 ifneq ($(wildcard $(realpath $(IPP_DIR))),)
 166   # Check versions, use first one found
 167   #IPP_VERSION = $(firstword $(shell ls $(IPP_DIR)))
 168   # We at least have a IPP, check if it matches our system
 169   IPP_ARCH = ia32
 170   ICC_ARCH = ia32
 171   ifeq ($(ARCH),x86_64)
 172     IPP_ARCH   = em64t
 173     ICC_ARCH   = intel64
 174   endif
 175   ifneq ($(wildcard $(realpath $(IPP_DIR)/$(IPP_ARCH)/include/ipp.h)),)
 176     HAVE_IPP = 1
 177     VISION_CFLAGS  += -DHAVE_IPP
 178     VISION_LIBS    += pthread
 179     ifeq ($(wildcard $(IPP_DIR)/$(IPP_VERSION)/$(IPP_ARCH)/sharedlib/libguide.so),)
 180       # IPP is used from ICC installation, possibly without actually using icc atm
 181       VISION_LIBDIRS += $(ICC_DIR)/lib/$(ICC_ARCH)
 182       VISION_INCDIRS += $(IPP_DIR)/include
 183     endif
 184     VISION_LIBDIRS += $(IPP_DIR)/$(IPP_VERSION)/$(IPP_ARCH)/sharedlib
 185     VISION_INCDIRS += $(IPP_DIR)/$(IPP_VERSION)/$(IPP_ARCH)/include
 186   endif
 187 endif
 188
 189 HAVE_OPENCV = $(if $(shell $(PKGCONFIG) --exists 'opencv'; echo $${?/1/}),1,0)
 190 ifeq ($(HAVE_OPENCV),1)
 191   CFLAGS_OPENCV      = -DHAVE_OPENCV $(shell $(PKGCONFIG) --cflags 'opencv')
 192   LDFLAGS_OPENCV     = $(subst -lhighgui,,$(shell $(PKGCONFIG) --libs 'opencv'))
 193   LDFLAGS_OPENCV_GUI = -lhighgui
 194 endif
 195
 196 ## check for SIFT-support (patent-encumbered!)
 197 SIFT_DIR = $(FVBASEDIR)/extlib/sift
 198 ifneq ($(wildcard $(realpath $(SIFT_DIR))),)
 199   HAVE_SIFT = 1
 200   LIBS_SIFT = sift
 201   CFLAGS_SIFT = -DHAVE_SIFT -I$(SIFT_DIR)/include
 202 endif
 203
 204 ## check for SURF-support (patent-encumbered!)
 205 SURF_DIR = $(FVBASEDIR)/extlib/surf
 206 ifneq ($(wildcard $(realpath $(SURF_DIR))),)
 207   ifneq ($(ARCH),x86_64)
 208     HAVE_SURF = 1
 209     LIBS_SURF = surf
 210     CFLAGS_SURF = -DHAVE_SURF -I$(FVBASEDIR)/extlib
 211   endif
 212 endif
 213
 214 ## check for SIFTPP-support (patent-encumbered!)
 215 SIFTPP_DIR = $(FVBASEDIR)/extlib/siftpp
 216 ifneq ($(wildcard $(realpath $(SIFTPP_DIR))),)
 217   HAVE_SIFTPP = 1
 218   LIBS_SIFTPP = siftpp
 219   CFLAGS_SIFTPP = -DHAVE_SIFTPP -I$(FVBASEDIR)/extlib
 220 # -DNDEBUG -DVL_LOWE_STRICT -DVL_USEFASTMATH
 221 endif
 222
 223 # Set to 1 to build shape models
 224 HAVE_SHAPE_MODELS = 1
 225
 226 ifneq ($(wildcard $(FVLIBDIR)/bulb_calib/bulb*),)
 227   HAVE_BULB_CREATOR = 1
 228   VISION_CFLAGS += -DHAVE_BULB_CREATOR
 229 endif
 230
 231 ifneq ($(wildcard $(realpath $(FVBASEDIR)/fvutils/rectification)),)
 232   HAVE_RECTINFO = 1
 233   VISION_CFLAGS += -DHAVE_RECTINFO
 234 endif
 235
 236 VISION_CFLAGS       += $(foreach CAM,$(CAMS),$(if $(subst 0,,$(HAVE_$(CAM)_CAM)),-DHAVE_$(CAM)_CAM))
 237 VISION_CFLAGS       += $(foreach CTRL,$(CTRLS),$(if $(subst 0,,$(HAVE_$(CTRL)_CTRL)),-DHAVE_$(CTRL)_CTRL))
 238
 239 ifeq ($(MAKECMDGOALS),printconf)
 240 VISION_CAM_PRINT     = $(foreach CAM,$(CAMS),$(CAM): $(if $(subst 0,,$(HAVE_$(CAM)_CAM)),"yes","no")\n)
 241 VISION_CTRL_PRINT    = $(foreach CTRL,$(CTRLS),$(CTRL): $(if $(subst 0,,$(HAVE_$(CTRL)_CTRL)),"yes","no")\n)
 242 VISION_LIBS_PRINT    = $(foreach DLIB,LIBJPEG LIBPNG LIBDC1394 SDL TRICLOPS_SDK IPP OPENCV SHAPE_MODELS SIFT SURF SIFTPP,$(DLIB): $(if $(subst 0,,$(HAVE_$(DLIB))),"yes","no")\n)
 243 printconf:
 244         $(SILENT)echo "Cameras:"
 245         $(SILENT)echo -e " $(VISION_CAM_PRINT)"
 246         $(SILENT)echo "Controls:"
 247         $(SILENT)echo -e " $(VISION_CTRL_PRINT)"
 248         $(SILENT)echo "Libs:"
 249         $(SILENT)echo -e " $(VISION_LIBS_PRINT)"
 250         $(SILENT)echo VISION_LIBDIRS:  $(VISION_LIBDIRS)
 251         $(SILENT)echo VISION_INCDIRS:  $(VISION_INCDIRS)
 252         $(SILENT)echo VISION_CAM_LIBS: $(VISION_CAM_LIBS)
 253         $(SILENT)echo VISION_CFLAGS:   $(VISION_CFLAGS)
 254 endif
 255
 256 ifneq ($(SRCDIR),)
 257 all: $(ERROR_TARGETS)
 258 .PHONY: error_V4L_CAM error_NAO_CAM
 259 error_V4L_CAM:
 260         $(SILENT)echo -e "$(INDENT_PRINT)--- $(TRED)If you enable V4L_CAM, you have to enable at least one of V4L1_CAM and V4L2_CAM$(TNORMAL)"
 261         $(SILENT)exit 1
 262
 263 error_NAO_CAM:
 264         $(SILENT)echo -e "$(INDENT_PRINT)--- $(TRED)If you enable NAO_CAM, you have to enable V4L2_CAM$(TNORMAL)"
 265         $(SILENT)exit 1
 266 endif
 267
 268 endif # __fvconf_mk_
 269