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Installing ifm3d from source

Build Dependencies

Dependency Dependent ifm3d module Notes
Boost framegrabber, pcicclient, tools, pybind11 We use Boost ASIO (header-only) to handle cross-platform network communication with the camera. While ASIO itself is header-only, it does require runtime linking to Boost System. We also use Boost Program Options to handle command line parsing in the tools module.
CMake camera, framegrabber, swupdater, image, opencv, pcicclient, tools, pybind11 Meta-build framework
Curl tools, swupdater Used to help enable command-line based firmware flashing.
Glog camera, framegrabber, swupdater, image, opencv, pcicclient, tools, pybind11 Logging framework
Gtest camera, framegrabber, swupdater, image, opencv, pcicclient, tools Unit testing framework
libxmlrpc camera, pybind11 XMLRPC client used call into the camera configuration interface
OpenCV image, opencv, pybind11 N-dimensional array container for encoding 2d and 3d image data
PCL image A 3D point cloud encoding. NOTE: the PCL dependency in ifm3d is header-only (we need to construct a point cloud) however there is no runtime linking dependency.
pybind11 pybind11 A header-only library that exposes C++ types in Python and vice versa, mainly to create Python bindings of existing C++ code.

Additionally, 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:

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

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

Building From Source

The default build

By default, the ifm3d build enables the camera, framegrabber, image, and tools modules. Building the software follows the usual cmake idiom of:

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

Alternatively, if you are on a supported Linux platform (see above), the preferred method of building and installing the software is:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr ..
$ make
$ make check
$ make package
$ make repackage
$ sudo dpkg -i ifm3d_0.14.1_amd64-camera.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-swupdater.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-framegrabber.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-image.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-tools.deb

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

A few important notes when building from source:

  • For the make check step, you will need to have your camera plugged in. The camera settings will get mutated by this process, so, you are encouraged to back up your configuration if you'd like to later restore your camera to its pre-testing state. You are also encouraged to test against the camera (or cameras) you plan to use. I.e., O3D, O3X, etc.

  • Many ifm3d users ultimately plan to use this library along with its associated ROS wrapper. If this is the case, you need to be sure that the version of OpenCV that you link to in both ifm3d and ifm3d-ros are consistent. To give you some control over that, the build process allows you to explicitly call out which version of OpenCV you wish to use. For example, if you are using OpenCV 2.4, your cmake line above should look something like: $ cmake -DCMAKE_INSTALL_PREFIX=/usr -DFORCE_OPENCV2=ON ... Similarly, if you are using OpenCV 3, your cmake line above should look something like: $ cmake -DCMAKE_INSTALL_PREFIX=/usr -DFORCE_OPENCV3=ON ..

  • Experienced users may be puzzled by the repackage step. If you are simply building for your local machine, you can skip it (albeit, with minimal risk). 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.

A build that does not require PCL

Many ifm3d users seem to be moving away from PCL. To that end, it is possible to build ifm3d without any reliance on PCL yet still maintain a bridge to OpenCV image encodings. (NOTE: As of 0.9.0, it is also quite easy to build your own image encoding to interoperate within the ifm3d ecosystem.)

Building ifm3d without a PCL dependency looks like the following:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_MODULE_OPENCV=ON -DBUILD_MODULE_IMAGE=OFF ..
$ make
$ make check
$ make package
$ make repackage
$ sudo dpkg -i ifm3d_0.14.1_amd64-camera.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-framegrabber.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-swupdater.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-opencv.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-tools.deb

Building the Python Bindings

There are several options/configurations available for building and/or installing the pybind11 module. For this reason, building/installing the pybind11 module is not covered in this document. Please refer to the python documentation for installation instructions.

A sumo-build

If you want to build everything:

$ mkdir build
$ cd build
$ cmake -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_MODULE_OPENCV=ON -DBUILD_MODULE_PCICCLIENT=ON ..
$ make -j 8
$ make check
$ make package
$ make repackage
$ sudo dpkg -i ifm3d_0.14.1_amd64-camera.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-framegrabber.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-swupdater.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-image.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-opencv.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-tools.deb
$ sudo dpkg -i ifm3d_0.14.1_amd64-pcicclient.deb