All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.


1.5.3 - 2024-04-05


  • Fix receiving frames with default format before PCIC p command has been acknowledged

1.5.2 - 2024-02-20




  • Fix curl error from SWUpdate

1.5.1 - 2024-02-07


  • release pipeline

1.5.0 - 2024-02-07 [YANKED] error during release - use 1.5.1


  • Python 3.12 builds

  • Parsing of V3 chunks

  • Ability to access V3 chunk metadata (see Frame::Metadata)

  • Ability to access multiple chunks with the same id in a frame (see Frame::GetBuffer and Frame::GetBufferCount)

  • O3R_RESULT_JSON and O3R_RESULT_ARRAY2D chunk ids


  • Use .deb files in Dockerfile instead of building from sources

  • Increase timeout for O3R set calls up to 15s


  • Fix installation prefix issue from tools

  • Add WebSockets++ third-party dependency using FetchContent_Declare

  • Fix device discovery issue

1.4.3 - 2023-09-28


  • Docker deployment

  • Add missing deserialize module to docker containers

1.4.2 - 2023-09-15


  • Fix data grabbing from diagnostic port

  • SWUpdate fix installing O3R updates from stdin

  • Fix compatibility for O3R devices with Firmware version below 1.1.x

1.4.1 - 2023-08-31


  • O3R.resolve_config unable to resolve leaf values

  • O3R::Ports and O3R::Port now wrap internal errors in ifm3d::Error


  • O3R add support for SaveInit with JSON pointers as arguments

  • ifm3d::Error codes are now exposed to Python

  • Python bindings for ifm3d logging

1.4.0 - 2023-08-02

NOTE : O3D and O3X support is currently experimental- Use at your own risk!.


  • Add support for O3D3xx and O3X devices

  • Extend Ports() to return app port

  • Extend Port() to return information of given app port


  • Updated cxxopts library to version 3.1.1 and used through FetchContent

1.3.3 - 2023-06-22


  • Fixed the error reporting through onError callback

1.3.2 - 2023-06-16


  • Add environment variable IFM3D_SWUPDATE_CURL_TIMEOUT for curl transaction timeout during software update

  • Add Project description and links to PyPI page

  • Add an example on how to use the deserializer module


  • Release versions wrongly marked as +dirty


  • Replaced glog with ifm3d::Logger, see the migration guide for details

  • The JSON module has been moved from device to common. Update your includes accordingly: use #include <ifm3d/common/json.hpp instead of #include <ifm3d/device/json.hpp.

1.3.1 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.3.0 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.2.6 - 2023-04-05


  • Fix state of the FrameGrabber not being reset correctly after Stop() causing receive failures on subsequent Start()s


  • Generate and distribute stubs with Python wheel package

  • Add MAC address in ifm3d discover command output

1.2.5 - 2023-04-03


  • Fixed a crash in FrameGrabber when the p command is called multiple times

  • Fixed potential crash when waiting for the future returned by FrameGrabber::WaitForFrame()

1.2.4 - 2023-03-28


  • Increase network timeout for the O3R::Set() call to 10 seconds


  • Fixed potential crash during device discovery

  • Fixed possible Segmentation fault when calling FrameGrabber::Stop() directly after FrameGrabber::Start()

  • Fixed typo in RGBInfoV1, TOFInfoV4 and TOFInfoV3: extrisic_optic_to_user -> extrinsic_optic_to_user

1.2.3 - 2023-03-17


  • Fixed segmentation fault when assigning a AsyncNotification or AsyncError handler while the FrameGrabber is not running

  • Added missing alias for ifm3dpy.Error to ifm3dpy.device.Error

  • Fix device discovery requiring manual firewall rule on windows


  • CI job for release of ifm3d

1.2.2 - 2023-03-06


  • Added Frame::FrameCount to access the frame counter value

  • Added API to enable disable masking in FrameGrabber


  • Split the Python bindings into submodules, see the migration guide for details. Warning: this requires an update of existing codebases.

  • Convert SWUpdater Python bindings naming to snake_case, see the migration guide for details. Warning: this requires an update of existing codebases.

  • FrameGrabber::Start now returns a future resolving once the FrameGrabber is ready to receive Frames


  • Fix a bug that could cause the update process to fail with a hash mismatch error on certain network configurations

  • Fix a bug preventing the FrameGrabber from being Started after it was previously Stopped

  • Fix a typo in the transform_cell_center_to_user variable (previously called transfor_cell_center_to_user).

  • Add missing Python binding for O3R::ResolveConfig

  • Fix CMake targets for deserialize module

1.2.1 - 2023-02-09


  • Fix a bug that could result in an endless loop when receiving PCIC tickets

  • Fix a crash when receiving PCIC data without any chunks

1.2.0 - 2023-02-03


  • Upgraded nlohmann::json to version 3.11.2

  • Removed JSON from the global namespace and moved nlohmann::json to the ifm3d::json namespace


  • Missing Python bindings for O3R::Port and O3R::Ports

  • CONFIDENCE_IMAGE image is not requested automatically anymore unless it’s required for generating the requested chunks


  • O3R::RebootToRecovery to reboot supported O3R devices into recovery mode

  • Support for O3R recovery based updates

  • Add size() interface in ifm3d::Buffer

  • Add Deserialize module

    • Add struct TOFInfoV3

    • Add struct TOFInfoV4

    • Add struct RGBInfoV1

    • Add struct ODSInfoV1

    • Add struct ODSOccupancyGridV1

1.1.1 - 2022-12-09


  • Data grabbing issue with ifm3dpy v1.1.0

1.1.0 - 2022-12-02


  • Change FrameGrabber::Stop to non blocking call and now returns std::future<void>

  • Add onError callback for error reporting in streaming mode of Framegrabber

  • Support for retrieving O3R diagnostics over XMLRPC

  • Support for Python 3.11

  • Support for Ubuntu 22.04

  • Python binding: FrameGrabber.sw_trigger()


  • XYZ_IMAGE coordinates were actually ZXY instead of XYZ, this has been corrected.

1.0.1 - 2022-10-14


  • Auto closure of stale issue on GitHub

  • Support for ODS schema

  • Asynchronous notification support


  • ifm3d and ifm3dpy documentation update

  • Confidence buffer available for user

  • Reflectivity buffer support in schema

  • Distance noise buffer in float format

  • Exception if buffer is not available in frame

  • Extrinsic values

  • Linux .deb file now depends on local installed libraries

1.0.0 - 2022-09-08


  • Example update showing usage of FrameGrabber API

  • Visibility attribute added for ifm3d API

  • Playground example for CMake users

  • Python API renamed as per C++ changes

  • CameraO3D, CameraO3R, CameraO3X renamed as O3D, O3R, O3X respectively

  • Camera is renamed as LegacyDevice

  • CameraBase is renamed as Device

  • image_id is renamed as buffer_id

  • Image is renamed as Buffer

  • camera module name changed to device

  • Example list update

  • Windows installer support for ifm3d

  • ifm3dpy documentation update

  • Software trigger support for the framegrabber module

  • Software trigger error reporting on execution failure

  • Asynchronous error support for framegrabber module

  • Schema support for framegrabber module

  • OSS compliance added

  • Windows build instruction update

  • Major architecture changes in the framegrabber module

  • Swupdater support for ifm3dpy

  • File(.swu) streaming for updating firmware through swupdater

  • Multiple timestamp support in ifm3dpy

  • O3R support for intrinsic calibration model type 2 (fisheye distortion model)


  • Error code from 7 digit to 6 digit for Lib error codes

  • Discover app for O3R devices

  • ifm3d::tools compatibility for O3R devices

0.93.0 - 2022-02-17


  • Document for schema

  • Document for O3X parameters

  • Added functionality to get timestamp at which data is send over Ethernet

  • Support for distance noise image for O3X Devices

  • Support for latest O3X firmware (1.1.190)

  • New Parameters for O3X device: AbsDistStraylightThreshold, EnableStraylightCorrection, EnableNoiseEstimation, CompensateAmbientLightDrift, DistNoiseThreshold, EnableNoiseEstimation, RelAmpStraylightThreshold

  • Added the O3X FW 1.1.166 to the compatibility list

  • Added compatibility list to software compatibility document

  • error_t::message() function to retrieve details about exceptions

  • Custom Python exception type: ifm3dpy.Error

  • Added timeout option in swupdate command of tools


  • O3R FW detection


  • The conversion of the camera frame is now a compile time option (Use -DUSE_LEGACY_COORDINATES=ON to keep the old behaviour)

  • O3RCamera::Port & O3RCamera::Ports methods to get information (PCIC port & type) of connected ports

  • O3RCamera::ResolveConfig convenience method to access specific parts of the configuration

0.92.0 - 2021-10-22


  • HTTP 407 Proxy authentication required error detection

  • Python 3.10 builds

  • Docker image on DockerHub: ifmrobotics/ifm3d

  • Docker image on GHCR:

  • Basic usage tutorials


  • O3R broken XYZImage

  • O3R getInit() method

  • Use the correct base image for arm64 based containers


  • Docker images now build ifm3d in Release mode

0.91.0 - 2021-10-05


  • O3R specific methods

0.90.2 - 2021-09-16

  • stlImage module (Image container based on STL)

  • Removed copying of the tools header

  • Example to upload docker container to O3R

0.90.1 - 2021-08-17


  • Basic C++ tutorials

  • Support for the new JSON based XML-RPC interface

  • Support for 2D image data

  • ifm3dpy_viewer Python example

  • Generate version based on last tag and commits since


  • Split Camera implementation into multiple classes

  • IsO3D/IsO3X/IsO3R replaced by WhoAmI/AmI functions

0.90.0 - 2021-01-18


  • Basic O3R support

  • Support for the compressed image format introduced for O3R

  • Initial IPv4 Discovery in the ifm3d command line tool


  • Hardcoded compiler flags for Linux

  • Copy of the header files during CMake build

Changes between ifm3d 0.18.0 and 0.20.0 [Unreleased]

  • Added clang format support for formatting

  • Changed license headers to SPDX format

  • Embedded third-party libraries Asio and cxxopts

    • Removed boost from dependency list

  • Support user defined port for camera, fg, swupdater module

    • This enable ifm3d to connect to devices behind NAT router

  • Added example for NTP to command line usage

  • Added build jobs in GitHub actions

    • Windows VS 2019

    • Ubuntu 20.04

  • Bugfixes

    • #284 ifm3d compiling error at swupdater app with VS2019 and Windows

    • #283 Imported target ifm3d::image includes non-existent path /usr/include/opencv

Changes between ifm3d 0.17.0 and 0.18.0

  • Support for latest O3D3XX firmware (1.30.5309)

  • Support for latest O3X firmware (1.0.156)

  • Deprecated ROS-specific apt repositories

  • Deprecated Python2 support

  • Support for Ubuntu 20.04 Focal Fossa

  • Packaged and released ifm3d as a Snap

  • Added support for Ubuntu ARM64

  • Added support for L4T (Linux for Tegra) JetPack 4.3 and 4.4

  • Improved Windows build instructions

  • Created GitHub Actions CI workflows

  • Bugfixes:

    • #190 - Added missing include for Windows build

Changes between ifm3d 0.16.0 and 0.17.0

  • Reverted changes in 0.16.0 (FrameGrabberUdp – No viable path to UDP implementation in FW)

  • Bugfixes

    • Issue with libcurl usage on 32bit targets

    • Corrected minimum firmware version required for inverse intrinsics

    • Corrected handling of spurious wakes in FrameGrabber

    • Fixed ComputeCartesian Python unit test to properly blank out invalid pixels

    • Changed build Dockerfiles to use pip for NumPy/pytest

    • Fixed race condition in PCICClient unit tests

    • Changed to honor the environment variables per the Windows installation instructions

    • Updated installation documentation for Windows

Changes between ifm3d 0.15.1 and 0.16.0

  • Created new framegrabberudp module for consuming data over UDP interface

Changes between ifm3d 0.15.0 and 0.15.1

  • Minor updates to allow for cross-compiling ifm3d for the O3D3XX

  • PCIC timeout issue fixed

Changes between ifm3d 0.14.1 and 0.15.0

  • Added Interface for getting json_model from O3D3xx devices.

Changes between ifm3d 0.14.0 and 0.14.1

  • Fixes to how timeouts are handled in swupdate module

  • Updated embedded JSON library to 3.6.1, single-header.

Changes between ifm3d 0.13.0 and 0.14.0

  • New module: swupdater – utilities for updating camera firmware

    • Ported functionality from swupdate command into its own library for programmatic consumption.

    • Updated certain semantics of the swupdate command in the tools module to match those of the other ifm3d tools commands

      • Updated command line switch naming to match other ifm3d tools:

        • check subcommand now invoked by -c or --check

        • reboot subcommand now invoked by -r or --reboot

      • file subcommand will now test for recovery and automatically reboot the device into recovery as needed.

  • Disabled FrameGrabber’s InverseIntrinsicParamSchema test due to suspected false failures. Test case will be investigated and re-opened in a future release.

  • Fixed issues with unit test scripts on Windows

  • Fixed Windows build documentation

    • Added BUILD_SHARED_LIBS definition to glog to address issues with logging to STDERR in Windows binaries

    • Parameterized the CMake generator for easier building when multiple versions of MSVC are installed concurrently

Changes between ifm3d 0.12.0 and 0.13.0

  • Honor semantics of CMake’s BUILD_SHARED_LIBS flag (ON by default). Setting to off will build and link against ifm3d modules as static libraries.

  • New module: pybind11 – Python bindings for the C++ API

Changes between ifm3d 0.11.2 and 0.12.0

  • Fixes to build infrastructure in support of windows unit tests

  • Added support to retrieve the inverse intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.11.1 and 0.11.2

  • Bugfix for #111, moved a log message in framegrabber to IFM3D_PROTO_DEBUG to keep noise level low when running an O3X for extended periods of time.

  • Changed flagging bad pixels to always be 0 regardless of data type. Users could always consult the confidence image themselves and discriminate between a true 0 (not possible) and a bad pixel which they could then transform to nan or whatever other sentinel makes sense for their application.

Changes between ifm3d 0.11.0 and 0.11.1

  • Bugfix for #103 header is not in the correct format when make check is executed against FW 1.6.2114

  • Bugfix for #107 Allows OpenCV module headers to be included in more than one translation unit thus avoiding violation of ODR.

  • The image and opencv modules now flags bad pixels at the driver-level

Changes between ifm3d 0.10.0 and 0.11.0

  • Added a jitter subcommand to ifm3d

  • Added support to retrieve the intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.9.3 and 0.10.0

  • Adds support for setting the IFM3D_SESSION_ID environment variable for establishing edit sessions with the camera using a known ID.

  • Sessions are now explicitly cancellable if the session ID is known.

  • Some session management optimizations in FromJSON which should result in incremental speedups in importing JSON configurations to the camera.

Changes between ifm3d 0.9.2 and 0.9.3

  • Added build instructions how to switch between Release and Debug for Windows builds

  • Added troubleshoot guide

  • Added OpenCV module build instruction for windows

  • Added minimum MSVC version requirement

  • Added prerequisite packages list for building ifm3d

  • Changed warning message in framegrabber from WARNING to IFM3D_TRACE severity level

  • Updated swupdate command with –check (recovery mode check) and -r (reboot to productive mode)

Changes between ifm3d 0.9.1 and 0.9.2

  • Added support for the Ubuntu 18.04

  • Added glog support in the CMake configuration files

Changes between ifm3d 0.9.0 and 0.9.1

  • Removed some additional Boost dependencies

Changes between ifm3d 0.8.3 and 0.9.0

  • Version number handling is now done in the CMake project command in the top-level CMakeLists.txt file

  • Dropped support for Ubuntu 14.04

  • Increased CMake requirements to 3.5

  • Increased compiler requirements to C++14

  • Moved examples module into new project ifm3d-examples

  • Moved viewer sub-command out of the ifm3d project. This is to decrease the PCL dependencies (see Issue #42). A new project will be created in support of this viewer application: ifm3d-pcl-viewer

  • Updated JSON parsing library to 3.1.2

  • By default, pcicclient module is now OFF.

  • Pixel-parsing framework has been significantly refactored. Sub-system specific docs for image container implementers have been provided in the doc folder.

  • Updated the ImageBuffer to conform to the new pixel-publishing architecture.

  • Initial implementation of an OpenCV-only (that is, no PCL) image container. This is the opencv module of the ifm3d project.

  • Added a passwd subcommand to ifm3d

Changes between ifm3d 0.8.2 and 0.8.3

  • Fixed a CMake regression regarding -std=c++11 flags passed to the compiler; surfaces on old versions of CMake, that is, in Ubuntu 14.04

Changes between ifm3d 0.8.1 and 0.8.2

  • Patch to Windows build

  • Better semantic versioning parsing of camera firmware

Changes between ifm3d 0.8.0 and 0.8.1

  • Reverted Windows build changes due to how it broke packaging on Linux

Changes between ifm3d 0.7.0 and 0.8.0

  • Illumination temperature is registered to frame data

Changes between ifm3d 0.6.0 and 0.7.0

  • Added timestamping of image buffers

  • Added support for setting/getting time on O3D cameras

  • Added support for setting temporary application parameters. Please note, that if the device does not support this, it may “fail silently,” so, a closed-loop check by the user is recommended.

Changes between ifm3d 0.5.0 and 0.6.0

  • Added the PCIC client feature from libo3d3xx

  • Added the ability to dump on-camera tracelogs including an interface to this capability via the trace subcommand to the ifm3d command-line tool.

Changes between ifm3d 0.4.0 and 0.5.0

  • Added swupdate subcommand in the tools module

  • Added image module support to Windows build

Changes between ifm3d 0.3.3 and 0.4.0

  • Added modules/tools/contrib with bash completions for ifm3d

Changes between ifm3d 0.3.2 and 0.3.3

  • Windows build support (should have been a bump to 0.4.0)

Changes between ifm3d 0.3.1 and 0.3.2

  • CMake build scripts now look for OpenCV in tools module since the image buffer header includes an OpenCV header

Changes between ifm3d 0.3.0 and 0.3.1

  • Fixed regression on 14.04 - no compiler support for std::put_time (#3)

Changes between ifm3d 0.2.0 and 0.3.0

  • Support for NTP (on O3X)

  • Added simple viewer sub-command to the ifm3d command-line program. This viewer will render the point cloud and color each pixel with the normalized amplitude value registered to that point.

Changes between ifm3d 0.1.0 and 0.2.0

  • Added software trigger support to O3X

  • Added support for ifm Vision Assistant compatible import/export functions for O3X cameras

  • Optimization to ifm3d command line tool when passed either --help or version. It will no longer try to connect to the device first, which makes this much more responsive and convenient for when no h/w is plugged in.

  • Added the ability to explicitly choose OpenCV 2.4 or OpenCV 3 at CMake/compile time.

  • Modifications to enable the library to build under Ubuntu 14.04 (C++11 instead of C++14 and GCC 4.8. Big thanks to @aaronhoy at Fetch Robotics for his work

  • Added a new build-time utility to auto-generate Debian dependencies for the binary packages. This is needed because, for how we are building multiple shared libraries across multiple Debian packages, CMake’s standard wrapper to dpkg-shlibdeps does not work for us (for several reasons).

This file has started tracking ifm3d at 0.1.0

  • Initial (alpha) release