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_IN_DEPS	Download and build dependencies	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

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.
Glog	device, framegrabber, swupdater, pcicclient, tools, pybind11	Logging framework
Gtest	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, 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 ...

Building the examples

The examples can be built along with the rest of the library by switching the DBUILD_EXAMPLES flag on. Assuming you are in the /build folder:

$ cmake -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_EXAMPLES=ON ..
$ cmake --build . --target ALL_BUILD

Build debian packages from source

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

Install dependencies for ifm3d debian packages

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:

• Python 2.7

• 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 offical debian repositories and should be a simple apt-get away from being installed on your machine.

Use the following steps to install all the library dependencies on Debian based systems

$ sudo apt-get update && sudo apt-get -y upgrade
$ sudo apt-get update && sudo apt-get install -y 
      git \ 
      jq \ 
      libssl-dev \
      libcurl4-openssl-dev \
      libgtest-dev libgoogle-glog-dev  \
      libxmlrpc-c++8-dev \ 
      libproj-dev \
      build-essential \
      coreutils \
      cmake

# Only if you wish to build the python bindings
$ sudo apt-get update && sudo apt-get install pybind11-dev                          

Note: The package name may differ in different flavours of Linux. Above apt-get commands are specific to Debian based systems

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.