Installing ifm3d from source

Note: Following Instruction are for ifm3d-v1.0.0 and above which provide full support for O3R devices. if you are using O3D/O3X device please use ifm3d-v0.20.3 and follow these instructions

Overview of the available build flags

Flag name	Description	Default value
`BUILD_MODULE_FRAMEGRABBER`	Build the `framegrabber` module	ON
`BUILD_MODULE_TOOLS`	Build the command-line utility	ON
`BUILD_MODULE_DESERIALIZE`	Build the `deserialize` module	ON
`BUILD_MODULE_PYBIND11`	Build the ifm3dpy Python package (it can also be installed directly through `pip`)	OFF
`USE_LEGACY_COORDINATES`	Use the legacy coordinates (ifm3d <= 0.92.x) with swapped axis	OFF
`BUILD_MODULE_SWUPDATER`	Build the `swupdater` module	ON
`BUILD_SDK_PKG`	Build install packages for development purposes	ON
`BUILD_SHARED_LIBS`	Build modules as shared libraries	ON
`BUILD_EXAMPLES`	Build the examples	OFF
`BUILD_DOC`	Build documentation	OFF
`BUILD_MODULE_PCICCLIENT`	Build the `pcicclient` module	OFF
`BUILD_IN_DEPS`	Download, build and install required dependencies with ifm3d (for ifm3d v0.93.0 and above)	ON

Build Dependencies

The ifm3d library depends on the libraries listed below. Only CMake and pybind11 (if building the Python library) need to be installed on the user’s machine. The other dependencies will be pulled automatically.

Dependency	Dependent ifm3d module	Notes
CMake	`device`, `framegrabber`, `swupdater`, `pcicclient`, `tools`, `pybind11`	Meta-build framework
curl	`device`, `tools`, `swupdater`	Used to help enable command-line based firmware flashing.
GoogleTest	`device`, `framegrabber`, `swupdater`, `pcicclient`, `tools`, `pybind11`	Unit testing framework
libxmlrpc	`device`, pybind11	XMLRPC client used call into the camera configuration interface
pybind11	`pybind11`	A header-only library that exposes C++ types in Python and vice versa, mainly to create Python bindings of existing C++ code.

Building From Source

Start with cloning the code from the ifm3d GitHub repository here.

⚠ The code on the branch main is updated nightly and contains the latest changes to the library. It is typically a work in progress.
⚠ We recommend using tagged versions for your builds, to ensure consistency between builds. The latest tagged version can be found here.

The default build

By default, the ifm3d build enables the device, framegrabber, deserializer, swupdater, and tools modules. Building the software follows the usual CMake idiom of:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ cmake --build .
$ sudo cmake --build . --target install

This will build and install ifm3d along with its dependencies.

Note: you can speed up the build by using ninja, with cmake -GNinja -DCMAKE_INSTALL_PREFIX=/usr ...

Build Debian packages from source

Dependencies

If you plan to build the Debian packages and have the dependencies computed for you dynamically (see the note below on the repackage target), you will also need:

readelf (Part of the binutils package)
ldd (Part of the libc-bin package)
dpkg

We note that, if you are running on a supported Linux, all of these packages are available through the official Debian repositories and should be a simple apt-get away from being installed on your machine.

This additional section provides instructions to build Debian packages from ifm3d source.
To install the existing ifm3d Debian packages please refer to this section.

Building Debian packages

Alternatively, to build debs to be distributed to multiple runtime machines, you can use the following:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ cmake --build .
$ cmake --build . --target package
$ cmake --build . --target repackage

$ sudo dpkg -i ifm3d_*_amd64-common.deb
$ sudo dpkg -i ifm3d_*_amd64-deserialize.deb
$ sudo dpkg -i ifm3d_*_amd64-device.deb
$ sudo dpkg -i ifm3d_*_amd64-framegrabber.deb
$ sudo dpkg -i ifm3d_*_amd64-swupdater.deb
$ sudo dpkg -i ifm3d_*_amd64-tools.deb

(The version number embedded in the deb file will be dependent upon which version of the ifm3d software you are building)

Note: Experienced users may be puzzled by the repackage step. This step is used to dynamically compute the Debian dependencies for the particular module. Due to how we are partitioning out the software, this approach is necessary vs. the more traditional CPACK_DEBIAN_PACKAGE_SHLIBDEPS wrapper around dpkg-shlibdeps. We basically created a version of that tool that exploits a-priori information about the ifm3d environment to properly compute the Debian dependencies. If you are building debs on a build machine to be distributed out to various runtime computers, you will certainly want to execute the repackage target so that you are ensured the runtime machines have the proper dependency chain in place.