fixposition · flipflip8952 · Jul 20, 2026 · Jul 15, 2026
diff --git a/Makefile b/Makefile
@@ -10,6 +10,8 @@ BUILD_TYPE     = Debug
 INSTALL_PREFIX = fpsdk
 BUILD_TESTING  =
 VERBOSE        = 0
+USE_PROJ       =
+USE_FFMPEG     =
 
 # User vars
 -include config.mk
@@ -26,13 +28,13 @@ else ifeq ($(ROS_VERSION),2)
 endif
 
 # A unique ID for this exact config we're using
-configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(FPSDK_VERSION_STRING) $(CC) $(CXX) $$(uname -a)" | md5sum | cut -d " " -f1)
+configuid=$(shell echo "$(BUILD_TYPE) $(INSTALL_PREFIX) $(BUILD_TESTING) $(USE_PROJ) $(USE_FFMPEG) $(FPSDK_VERSION_STRING) $(CC) $(CXX) $$(uname -a)" | md5sum | cut -d " " -f1)
 
 .PHONY: help
 help:
 	@echo "Usage:"
 	@echo
-	@echo "    make <target> [INSTALL_PREFIX=...] [BUILD_TYPE=Debug|Release] [BUILD_TESTING=|ON|OFF] [FPSDK_VERSION_STRING=x.x.x-gggggggg] [VERBOSE=1]"
+	@echo "    make <target> [INSTALL_PREFIX=...] [BUILD_TYPE=Debug|Release] [BUILD_TESTING=|ON|OFF] [USE_PROJ=|ON|OFF] [USE_FFMPEG=|ON|OFF] [FPSDK_VERSION_STRING=x.x.x-gggggggg] [VERBOSE=1]"
 	@echo
 	@echo "Where possible <target>s are:"
 	@echo
@@ -57,6 +59,7 @@ help:
 	@echo "- All <target>s but 'clean' and 'pre-commit' require that the same command-line variables are passed"
 	@echo "- Command-line variables can be stored into a config.mk file, which is automatically loaded"
 	@echo "- 'make ci' runs the CI (more or less) like on Github. INSTALL_PREFIX and BUILD_TYPE have no effect here."
+	@echo "- For more control, such as disabling features, use cmake instead of this Makefile"
 	@echo
 
 ########################################################################################################################
@@ -125,7 +128,13 @@ ifneq ($(ROS_PACKAGE_PATH),)
   CMAKE_ARGS += -DROS_PACKAGE_PATH=$(ROS_PACKAGE_PATH)
 endif
 ifneq ($(BUILD_TESTING),)
-  CMAKE_ARGS += -DBUILD_TESTING=$(BUILD_TESTING)
+  CMAKE_ARGS += -DFPSDK_BUILD_TESTING=$(BUILD_TESTING)
+endif
+ifneq ($(USE_PROJ),)
+  CMAKE_ARGS += -DFPSDK_USE_PROJ=$(USE_PROJ)
+endif
+ifneq ($(USE_FFMPEG),)
+  CMAKE_ARGS += -DFPSDK_USE_FFMPEG=$(USE_FFMPEG)
 endif
 ifneq ($(FPSDK_VERSION_STRING),)
   CMAKE_ARGS += -DVERSION_STRING=$(FPSDK_VERSION_STRING)
@@ -166,26 +175,10 @@ distclean:
 $(BUILD_DIR):
 	$(V)$(MKDIR) -p $@
 
-# Detect changed build config
-ifneq ($(MAKECMDGOALS),)
-ifneq ($(MAKECMDGOALS),help)
-ifneq ($(MAKECMDGOALS),pre-commit)
-ifneq ($(MAKECMDGOALS),ci)
-ifneq ($(MAKECMDGOALS),distclean)
-ifneq ($(MAKECMDGOALS),doc)
-builddiruid=$(shell $(CAT) $(BUILD_DIR)/.make-uid 2>/dev/null || echo "none")
-ifneq ($(builddiruid),$(configuid))
-    dummy=$(shell $(RM) -f $(BUILD_DIR)/.make-uid)
-endif
-endif
-endif
-endif
-endif
-endif
-endif
-
-$(BUILD_DIR)/.make-uid: | $(BUILD_DIR)
-	$(V)$(ECHO) $(configuid) > $@
+$(BUILD_DIR)/.make-configuid-$(configuid): | $(BUILD_DIR)
+	@echo "Build config changed"
+	$(V)$(RM) -vf $(BUILD_DIR)/.make-configuid-*
+	$(V)$(TOUCH) $@
 
 # ----------------------------------------------------------------------------------------------------------------------
 
@@ -194,7 +187,7 @@ cmake: $(BUILD_DIR)/.make-cmake
 
 deps_cmake := Makefile $(wildcard config.mk) $(wildcard $(sort $(wildcard CMakeLists.txt */CMakeLists.txt */cmake/*)))
 
-$(BUILD_DIR)/.make-cmake: $(deps_cmake) $(BUILD_DIR)/.make-uid
+$(BUILD_DIR)/.make-cmake: $(deps_cmake) $(BUILD_DIR)/.make-configuid-$(configuid)
 	@echo "$(HLW)***** Configure ($(BUILD_TYPE)) *****$(HLO)"
 	$(V)$(CMAKE) -B $(BUILD_DIR) $(CMAKE_ARGS)
 	$(V)$(TOUCH) $@
@@ -210,7 +203,7 @@ deps_build = $(sort $(wildcard fpsdk.sh fpsdk_doc/* \
 .PHONY: build
 build: $(BUILD_DIR)/.make-build
 
-$(BUILD_DIR)/.make-build: $(deps_build) $(BUILD_DIR)/.make-cmake $(BUILD_DIR)/.make-uid
+$(BUILD_DIR)/.make-build: $(deps_build) $(BUILD_DIR)/.make-cmake
 	@echo "$(HLW)***** Build ($(BUILD_TYPE)) *****$(HLO)"
 	$(V)$(NICE_BUILD) $(CMAKE) --build $(BUILD_DIR) $(CMAKE_ARGS_BUILD) -- -k
 	$(V)$(TOUCH) $@

diff --git a/docker/Dockerfile.humble-base b/docker/Dockerfile.humble-base
@@ -41,6 +41,10 @@ RUN /tmp/install_proj.sh && rm -f /tmp/install_proj.sh
 COPY docker/scripts/install_doxygen.sh /tmp
 RUN /tmp/install_doxygen.sh && rm -f /tmp/install_doxygen.sh
 
+# Download, build and install FFmpeg libraries (LGPL)
+COPY docker/scripts/install_ffmpeg.sh /tmp
+RUN /tmp/install_ffmpeg.sh && rm -f /tmp/install_ffmpeg.sh
+
 # Update ld cache for the installed libraries
 RUN /usr/sbin/ldconfig
 

diff --git a/docker/Dockerfile.jazzy-base b/docker/Dockerfile.jazzy-base
@@ -33,6 +33,10 @@ RUN /tmp/install_clangformat.sh && rm -f /tmp/install_clangformat.sh
 COPY docker/scripts/install_doxygen.sh /tmp
 RUN /tmp/install_doxygen.sh && rm -f /tmp/install_doxygen.sh
 
+# Download, build and install FFmpeg libraries (LGPL)
+COPY docker/scripts/install_ffmpeg.sh /tmp
+RUN /tmp/install_ffmpeg.sh && rm -f /tmp/install_ffmpeg.sh
+
 # Update ld cache for the installed libraries
 RUN /usr/sbin/ldconfig
 

diff --git a/docker/Dockerfile.noetic-base b/docker/Dockerfile.noetic-base
@@ -42,6 +42,14 @@ RUN /tmp/install_proj.sh && rm -f /tmp/install_proj.sh
 COPY docker/scripts/install_doxygen.sh /tmp
 RUN /tmp/install_doxygen.sh && rm -f /tmp/install_doxygen.sh
 
+# Download, build and install NASM (for FFmpeg)
+COPY docker/scripts/install_nasm.sh /tmp
+RUN /tmp/install_nasm.sh && rm -f /tmp/install_nasm.sh
+
+# Download, build and install FFmpeg libraries (LGPL)
+COPY docker/scripts/install_ffmpeg.sh /tmp
+RUN /tmp/install_ffmpeg.sh && rm -f /tmp/install_ffmpeg.sh
+
 # Download, build and install pre-commit
 COPY docker/scripts/install_precommit.sh /tmp
 RUN /tmp/install_precommit.sh && rm -f /tmp/install_precommit.sh

diff --git a/docker/Dockerfile.trixie-base b/docker/Dockerfile.trixie-base
@@ -26,6 +26,10 @@ RUN /tmp/install_apt_base.sh && rm -f /tmp/install_apt_base.sh
 COPY docker/scripts/install_doxygen.sh /tmp
 RUN /tmp/install_doxygen.sh && rm -f /tmp/install_doxygen.sh
 
+# Download, build and install FFmpeg libraries (LGPL)
+COPY docker/scripts/install_ffmpeg.sh /tmp
+RUN /tmp/install_ffmpeg.sh && rm -f /tmp/install_ffmpeg.sh
+
 # Update ld cache for the installed libraries
 RUN /usr/sbin/ldconfig
 

diff --git a/docker/ci.sh b/docker/ci.sh
@@ -233,7 +233,7 @@ function build_toplevel_release_noros_mindeps
     cmake -B build/${buildname} -S . \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release \
-        -DFPSDK_USE_PROJ=OFF || return 1
+        -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
     cmake --build build/${buildname} ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname} || return 1
 
@@ -253,7 +253,7 @@ function build_projs_release_noros_mindeps
     cmake -B build/${buildname}/fpsdk_common -S fpsdk_common \
         -DCMAKE_INSTALL_PREFIX=install/${buildname} \
         -DCMAKE_BUILD_TYPE=Release \
-        -DFPSDK_USE_PROJ=OFF || return 1
+        -DFPSDK_USE_PROJ=OFF -DFPSDK_USE_FFMPEG=OFF || return 1
     cmake --build build/${buildname}/fpsdk_common ${CMAKE_BUILD_ARGS} || return 1
     cmake --install build/${buildname}/fpsdk_common || return 1
 

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -56,6 +56,7 @@ services:
         # Apparently required... (so that the container doesn't kill itself?)
         command: tail -f
 
+
     # ----- ROS1 -------------------------------------------------------------------------------------------------------
 
     build-noetic-base:
@@ -100,6 +101,7 @@ services:
         hostname: fpsdk-noetic-dev-${USER}
         command: tail -f
 
+
     # ----- ROS2 -------------------------------------------------------------------------------------------------------
 
     build-humble-base:

diff --git a/docker/scripts/install_apt_base.sh b/docker/scripts/install_apt_base.sh
@@ -45,7 +45,9 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.trixie      libssl-dev
     noetic.humble.jazzy.trixie      libsqlite3-dev
     noetic.humble.jazzy.trixie      libtiff-dev
+    noetic.humble.jazzy.trixie      libva-dev                         # automatically installs va-driver-all?
     noetic.humble.jazzy.trixie      libyaml-cpp-dev
+    noetic.humble.jazzy.trixie      nasm
     noetic.humble.jazzy.trixie      netbase
     noetic.humble.jazzy.trixie      nlohmann-json3-dev
     .......humble.jazzy.trixie      pre-commit

diff --git a/docker/scripts/install_apt_dev.sh b/docker/scripts/install_apt_dev.sh
@@ -43,6 +43,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.trixie      gdb
     noetic.humble.jazzy.trixie      git-lfs
     noetic.humble.jazzy.trixie      htop
+    noetic.humble.jazzy.trixie      imagemagick
     noetic.humble.jazzy.trixie      iproute2
     noetic.humble.jazzy.trixie      iputils-ping
     noetic.humble.jazzy.trixie      less
@@ -77,6 +78,7 @@ packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.trixie      systemd-journal-remote
     noetic.humble.jazzy.trixie      tcpdump
     noetic.humble.jazzy.trixie      tig
+    noetic.humble.jazzy.trixie      va-driver-all
     noetic.humble.jazzy.trixie      valgrind
     noetic.humble.jazzy.trixie      vim
     noetic.humble.jazzy.trixie      wget

diff --git a/docker/scripts/install_apt_run.sh b/docker/scripts/install_apt_run.sh
@@ -16,6 +16,8 @@ set -eEu
 # List of packages, with filter for the different images we make
 packages=$(awk -v filt=${FPSDK_IMAGE%-*} '$1 ~ filt { print $2 }' <<EOF
     noetic.humble.jazzy.trixie      rsync
+    noetic.humble.jazzy.trixie      va-driver-all
+    noetic.humble.jazzy.trixie      vainfo
 EOF
 )
 

diff --git a/docker/scripts/install_ffmpeg.sh b/docker/scripts/install_ffmpeg.sh
@@ -0,0 +1,79 @@
+#!/bin/bash
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+#
+# Download, build and install FFmpeg's libavcodec, libavutil and libswscale
+# Note the use of --disable-gpl  and --disable-nonfree to make this LGPL and
+# compatible with the Fixposition SDK license.
+#
+########################################################################################################################
+set -eEu
+
+# curl -L https://ffmpeg.org/releases/ffmpeg-8.1.1.tar.xz -o /tmp/ffmpeg.tar.gz
+# echo "0b8318579556aaa736096ceb1e8333d2260b63bf /tmp/ffmpeg.tar.gz" | sha1sum --check
+
+# LTS
+curl -L https://ffmpeg.org/releases/ffmpeg-7.1.5.tar.xz -o /tmp/ffmpeg.tar.gz
+echo "280615051f0546371d20d8b119f3ff357e0fb948 /tmp/ffmpeg.tar.gz" | sha1sum --check
+
+
+mkdir /tmp/ffmpeg
+cd /tmp/ffmpeg
+tar --strip-components=1 -xvf ../ffmpeg.tar.gz
+
+
+./configure \
+  --disable-everything \
+  --disable-programs \
+  --disable-doc \
+  --disable-swresample \
+  --disable-network \
+  --disable-podpages \
+  --disable-iconv \
+  --disable-lzma \
+  --disable-bzlib \
+  --disable-zlib \
+  --disable-libxcb \
+  \
+  --enable-avcodec \
+  --enable-avformat \
+  --enable-avfilter \
+  --enable-filters \
+  --enable-decoder=h264 \
+  --enable-decoder=hevc \
+  --enable-decoder=mjpeg \
+  --enable-parser=h264 \
+  --enable-parser=hevc \
+  --enable-parser=mjpeg \
+  --enable-vaapi \
+  \
+  --disable-static \
+  --enable-shared \
+  \
+  --disable-gpl \
+  --disable-nonfree \
+  \
+  --prefix=/usr/local
+
+#  --disable-avformat
+#  --disable-avdevice
+
+# --enable-vulkan
+# --enable-nvdec
+
+#./configure --disable-gpl --disable-nonfree --enable-shared --disable-static --prefix=/usr/local
+
+make -j4
+make install
+
+cd /
+rm -rf /tmp/ffmpeg.tar.gz /tmp/ffmpeg
+
+
+########################################################################################################################
diff --git a/docker/scripts/install_nasm.sh b/docker/scripts/install_nasm.sh
@@ -0,0 +1,32 @@
+#!/bin/bash
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+#
+# Download, build nasm
+#
+########################################################################################################################
+set -eEu
+
+
+curl -L https://www.nasm.us/pub/nasm/releasebuilds/3.01/nasm-3.01.tar.xz -o /tmp/nasm.tar.gz
+echo "f0531dfe9728192fe190cc4932df44a26f1bde7c /tmp/nasm.tar.gz" | sha1sum --check
+
+mkdir /tmp/nasm
+cd /tmp/nasm
+tar --strip-components=1 -xvf ../nasm.tar.gz
+
+./configure --prefix=/usr/local
+make -j4
+make install
+
+cd /
+rm -rf /tmp/nasm.tar.gz /tmp/nasm
+
+
+########################################################################################################################
diff --git a/fpsdk.code-workspace b/fpsdk.code-workspace
@@ -225,6 +225,7 @@
         "peacock.remoteColor": "#f9e64f",
         "workbench.colorCustomizations": {
             "commandCenter.border": "#15202b99",
+            "commandCenter.foreground": "#15202b",
             "titleBar.activeBackground": "#f9e64f",
             "titleBar.activeForeground": "#15202b",
             "titleBar.inactiveBackground": "#f9e64f99",
@@ -342,6 +343,22 @@
                     { "text": "handle SIGPIPE nostop noprint pass", "description": "ignore SIGPIPE", "ignoreFailures": true },
                     { "text": "source ${workspaceFolder}/.devcontainer/.gdb/gdbinit", "description": "load local gdbinit", "ignoreFailures": false }
                 ]
+            },
+            {
+                "name": "Fixposition SDK: debug fpltool extract",
+                "type": "cppdbg", "request": "launch", "MIMode": "gdb", "miDebuggerPath" : "gdb",
+                "stopAtEntry": false,
+                "preLaunchTask" : "Fixposition SDK: build",
+                "program": "${workspaceFolder}/build/Debug/fpsdk_apps/fpltool",
+                "args": [
+                    "extract", "-f", "test.fpl", "-v", "-v", "-v", "-v" ],
+                "cwd": "${workspaceFolder}",
+                "setupCommands": [
+                    { "text": "set auto-load safe-path ${workspaceFolder}", "description": "", "ignoreFailures": true },
+                    { "text": "-enable-pretty-printing", "description": "enable pretty printing", "ignoreFailures": true },
+                    { "text": "handle SIGPIPE nostop noprint pass", "description": "ignore SIGPIPE", "ignoreFailures": true },
+                    { "text": "source ${workspaceFolder}/.devcontainer/.gdb/gdbinit", "description": "load local gdbinit", "ignoreFailures": false }
+                ]
             }
         ],
         "compounds": []

diff --git a/fpsdk.sh b/fpsdk.sh
@@ -172,15 +172,21 @@ function main
     local args="${docker_args}"
     # - single-use container, no funny network
     args="${args} --rm --network host"
-    # - connect stdin
-    args="${args} --interactive"
+    # - connect stdin, create tty
+    args="${args} --interactive --tty"
     # - Mount current directory as /data and run command inside docker from there
     args="${args} --volume ${PWD}:/data --workdir /data"
     # - Additional mounts
     args="${args} ${volume_args}"
     # - Set user, mount passwd and group file
     args="${args} --user $(id -u):$(id -g) --volume /etc/passwd:/etc/passwd:ro --volume /etc/group:/etc/group:ro"
-
+    # - Allow FFmpeg vaapi access on some systems. Note: this doesn't work with "-i noetic" (Ubuntu 20).
+    #   Related: https://github.com/joedefen/ffmpeg-vaapi-docker
+    if [ -r /dev/dri ]; then
+        args="${args} --device=/dev/dri"
+        rendergid=$(awk -F: '/^render:/ { print $3 }' /etc/group)
+        args="${args} --group-add ${rendergid}"
+    fi
 
     [ ${DEBUG} -gt 0 ] && set -x
     if ! docker run ${args} ${image} "$@"; then