# ifm3d

**Repository Path**: zhaoxy-001/ifm3d

## Basic Information

- **Project Name**: ifm3d
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-11-02
- **Last Updated**: 2024-06-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


ifm3d
=====
Library and utilities for working with ifm pmd-based 3D ToF Cameras.

![Build (Ubuntu)](https://github.com/ifm/ifm3d/workflows/Build%20(Ubuntu)/badge.svg?branch=master)
![Build (Windows)](https://github.com/ifm/ifm3d/workflows/Build%20(Windows)/badge.svg?branch=master)

# Release versions

:warning: Note that the `master` branch is generally in a work in progress state and you probably want to use a
tagged [release version](https://github.com/ifm/ifm3d/releases) for production.

Current Revision
----------------
<table>
  <tr>
    <th>ifm3d version</th>
    <th>Supported O3D Firmware Version</th>
    <th>Supported O3X Firmware Version</th>
    <th>Supported Ubuntu Linux Version</th>
    <th>Notes</th>
  </tr>
  <tr>
    <td>0.20.0 </td>
    <td>1.6.2114, 1.23.1522, 1.23.1522, 1.23.2848, 1.30.4123, 1.30.5309</td>
    <td>1.0.122, 1.0.126, 1.0.156</td>
    <td>16.04,18.04,20.04</td>
    <td>Removed Boost dependence,Added clang-format,SPDX license Headers</td>
  </tr>
</table>

A full software compatibility matrix, including older releases, is available [here](doc/swcompat.md).

Organization of the Software
----------------------------
The ifm3d software is organized into modules, they are:

<table>
  <tr>
    <th>Module Name</th>
    <th>Description</th>
  </tr>
  <tr>
    <td>camera</td>
    <td>Provides an implementation of the XMLRPC protocol for configuring the
    camera and pmd imager settings.</td>
  </tr>
  <tr>
    <td>framegrabber</td>
    <td>Provides an implementation of the PCIC protocol for streaming pixel
    data and triggered image acquisition.</td>
  </tr>
  <tr>
    <td>swupdater</td>
    <td>Provides utilities for managing the SWUpdate subsystem of the
    camera.</td>
  </tr>
  <tr>
    <td>image</td>
    <td>Provides a bridge from raw camera bytes to OpenCV and PCL image encodings.</td>
  </tr>
  <tr>
    <td>opencv</td>
    <td>This is an officially supported and alternate data container to the
    default Image module. This module provides a bridge from raw camera bytes
    to OpenCV image encodings without any dependence upon PCL.</td>
  </tr>
  <tr>
    <td>pcicclient</td>
    <td>Direct access to PCIC to, for example, actuate digital IO.</td>
  </tr>
  <tr>
    <td>tools</td>
    <td>Provides the ifm3d command line tool for manipulating and introspecting
    the hardware interactively. It is also suitable for usage within shell
    scripts to, for example, manage fleets of cameras.</td>
  </tr>
  <tr>
    <td>pybind11</td>
    <td>Provides python bindings through
    <a href="https://github.com/pybind/pybind11">pybind11</a> to the native C++ API.
    Supports all general camera functionality as well as a zero-copy interface
    to image data, exposed as NumPy arrays.</td>
  </tr>
</table>

As of version 0.9.0, we have removed the `viewer` sub-command from the `ifm3d`
command line tool (part of the `tools` module). The objective was to lessen the
dependencies for the core library. However, a *clone* of the pre-0.9.0
viewer is available in its own repository:
[ifm3d-pcl-viewer](https://github.com/ifm/ifm3d-pcl-viewer).

Installing the Software
-----------------------
Binaries for ifm3d are available on a few supported platforms. Instructions for
each now follow.

## Linux

#### Ubuntu Linux via Apt (amd64/arm64)

:warning: The provided apt repositories are experimental and shall be used with caution, the version uploaded to the apt repository might change and thus may break your use-case. If you rely on a specific version of the software we do recommend to run your own apt repository or build from source.

We provide apt repositories for the following Ubuntu Linux distributions and
architectures:

<table>
  <tr>
    <th/>
    <th>Ubuntu 16.04 Xenial</th>
    <th>Ubuntu 18.04 Melodic</th>
    <th>Ubuntu 20.04 Focal</th>
  </tr>
  <tr>
    <th>amd64</th>
    <td>X</td>
    <td>X</td>
    <td>X</td>
  </tr>
  <tr>
    <th>arm64</th>
    <td>X</td>
    <td>X</td>
    <td>X</td>
  </tr>
</table>

Add the repository to your sources.list:
```
$ sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] https://nexus.ifm.com/repository/ifm-robotics_ubuntu_$(lsb_release -sc)_$(dpkg --print-architecture) $(lsb_release -sc) main" > /etc/apt/sources.list.d/ifm-robotics.list'
```

Add the public key for the repository:
```
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 8AB59D3A2BD7B692
```

If you experience issues with connecting the key server you can try this alternative which uses curl. This is maybe helpful when you are behind a proxyserver.
```
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0x8AB59D3A2BD7B692' | sudo apt-key add -
```
:exclamation: In case of any name resolution issues, it is worth to check the environment variable ```$https_proxy``` for proper proxy configuration.

Install the software:

```
$ sudo apt-get update
$ sudo apt-get install ifm3d-camera \
                       ifm3d-framegrabber \
                       ifm3d-swupdater \
                       ifm3d-image \
                       ifm3d-opencv \
                       ifm3d-pcicclient \
                       ifm3d-tools \
                       ifm3d-python3 \
                       ifm3d-pcl-viewer \
```

#### Linux for Tegra

:warning: The provided apt repositories are experimental and shall be used with caution, the version uploaded to the apt repository might change and thus may break your use-case. If you rely on a specific version of the software we do recommend to run your own apt repository or build from source.

Linux for Tegra is an NVIDIA Linux distribution for the Jetson family of GPU
SoC systems. NVIDIA distributes a software package called JetPack with various
utilities and libraries optimized for the target hardware. There are a few
packages which override the core Ubuntu packages (`OpenCV` as the primary
example). We provide alternate apt repositories for `ifm3d` built on top of
the JetPack libraries rather than the Ubuntu libraries.

Add *one* of the following repositories based on your desired JetPack/L4T
release:

Jetpack 4.4:
```
$ sudo sh -c 'echo "deb https://nexus.ifm.com/repository/ifm-robotics_l4t_jetpack_4_4_arm64 melodic main" > /etc/apt/sources.list.d/ifm-robotics.list'
```
Jetpack 4.3:
```
$ sudo sh -c 'echo "deb https://nexus.ifm.com/repository/ifm-robotics_l4t_jetpack_4_3_arm64 melodic main" > /etc/apt/sources.list.d/ifm-robotics.list'
```

Add the public key for the repository:
```
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 8AB59D3A2BD7B692
```

Install the software:

```
$ sudo apt-get update
$ sudo apt-get install ifm3d-camera \
                       ifm3d-framegrabber \
                       ifm3d-swupdater \
                       ifm3d-image \
                       ifm3d-opencv \
                       ifm3d-pcicclient \
                       ifm3d-tools \
                       ifm3d-python3 \
                       ifm3d-pcl-viewer \
```

#### ROS/ROS2

For users interested in using our [ROS](https://github.com/ifm/ifm3d-ros)
bindings, `ifm3d` and `ifm3d-ros` are both available in the ROS distribution
for Kinetic and Melodic (Noetic coming shortly).
```
$ sudo apt install ros-kinetic-ifm3d
```
or
```
$ sudo apt install ros-melodic-ifm3d
```

For users interested in using our [ROS2](https://github.com/ifm/ifm3d-ros2)
bindings, binaries will be included (starting with dashing) very soon. For now,
packages must be built from source. Do not use the debian mirror for
`ifm3d` since (depending on version) ROS2 ships parallel versions of some core
libraries (OpenCV, PCL) as compared with standard Ubuntu. `ifm3d` must be built
against the proper dependencies.

### Windows

Pre-built binaries are not yet available. For now we recommend manually
compiling for the target MSVC/SDK versions according to the
[building on windows](doc/windows.md) instructions.

### Other platforms

If you are running on a platform we did not mention above, the links below will
assist you in building from source code. Alternatively, if you are simply
looking to do a quick evaluation of an `ifm3d` supported sensor we recommend
the use of [Docker containers](docker/).


Additional Resources
--------------------
* [Building from source on Linux](doc/source_build.md)
* [Building on Windows](doc/windows.md)
* [Building and using Python bindings](doc/python.md)
* [Basic library usage](doc/basic_usage.md)
* [ifm3d command line tool](doc/cmdline.md)
* [Configuring Your Camera](doc/configuring.md)
* [Viewing the Point Cloud](https://github.com/ifm/ifm3d-pcl-viewer)
* [Implementing your own image container](doc/img_container.md)
* [ROS](https://github.com/ifm/ifm3d-ros)
* [ROS 2](https://github.com/ifm/ifm3d-ros2)
* [Troubleshoot](doc/troubleshoot.md)
* [Computing Cartesian data off-board](doc/compute_cartesian/O3D_Cartesian_Computation.ipynb) using the
  `ifm3dpy` Python bindings.

Known Issues, Bugs, and our TODO list
-------------------------------------
Please see the [Github Issue Tracker](https://github.com/ifm/ifm3d/issues).


LICENSE
-------
Please see the file called [LICENSE](LICENSE).