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Building ifm3d from source on Windows

This tutorial details how to compile the ifm3d library and its dependencies on a Windows platform using Visual Studio.

Dependencies

Build tools

  • CMake v3.5.0 or newer (also available through the Visual Studio installer)
  • Git for Windows (also available through the Visual Studio installer)
  • Microsoft Visual Studio version 2015, 2017 or 2019. The free 'Community' edition is sufficient. Be sure to select the 'Desktop development with C++' workflow.

Binary Dependencies

PCL

PCL is available in binary form for Windows platforms via the project's GitHub releases page. ifm3d is tested against version v1.8.1 which can be downloaded and installed via the following links.

Choose ONE of the following based on your target version of Visual Studio.

NOTE: Opt-in to installing the 3rd party dependencies of PCL. ifm3d also takes a dependency on the boost library. For simplicity/compatibility, this tutorial builds against the version of boost provided along with PCL.

NOTE: It is possible to build an ifm3d variant which does not depend on the PCL library. See Appendix A below for instructions.

OpenCV 3.4

OpenCV 3.4 is available in binary form for Windows platforms from the OpenCV Releases page. ifm3d is tested against v3.4.9, available from the following link:

Download it and extract to a known location (this tutorial assumes a path of C:\opencv.

Source Dependencies

ifm3d depends on several additional libraries (curl, xmlrpc-c, glog, and gtest) which are not available as binary packages on Windows. The following instructions detail how to compile them from source for your target.

Environment Configuration

The following environment variables are used by this tutorial to make customization simpler. Modify them as needed for your environment. You can obtain a list of valid cmake generator strings via cmake -h. Again, ifm3d supports version 2015 and newer.

set IFM3D_BOOST_ROOT="C:\Program Files\PCL 1.8.1\3rdParty\Boost"
set IFM3D_OPENCV_PATH=C:\opencv\build
set IFM3D_CMAKE_GENERATOR="Visual Studio 15 2017 Win64"
set IFM3D_BUILD_DIR=C:\ifm3d
set CONFIG=Release

Finally, create the working directory in which ifm3d and its dependencies will be built:

mkdir %IFM3D_BUILD_DIR%

curl

cd %IFM3D_BUILD_DIR%
git clone --branch curl-7_47_1 https://github.com/curl/curl.git
cd %IFM3D_BUILD_DIR%\curl
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..
cmake --build . --clean-first --config %CONFIG% --target INSTALL

xmlrpc-c

cd %IFM3D_BUILD_DIR%
git clone --branch 1.33.14-cmake https://github.com/ifm/xmlrpc-c.git
cd %IFM3D_BUILD_DIR%\xmlrpc-c
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..
cmake --build . --clean-first --config %CONFIG% --target INSTALL

glog

cd %IFM3D_BUILD_DIR%
git clone --branch v0.3.5 https://github.com/google/glog.git
cd %IFM3D_BUILD_DIR%\glog
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DBUILD_SHARED_LIBS=ON -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..
cmake --build . --clean-first --config %CONFIG% --target INSTALL

gtest

cd %IFM3D_BUILD_DIR%
git clone --branch release-1.8.1 https://github.com/google/googletest.git

NOTE: gtest is only needed to build and run unit tests. To skip, add -DBUILD_TESTS=OFF to the cmake configuration command line on the ifm3d library below.

Building ifm3d

# Clone the repository
cd %IFM3D_BUILD_DIR%
git clone https://github.com/ifm/ifm3d.git
cd %IFM3D_BUILD_DIR%\ifm3d

# Configure
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DBUILD_SDK_PKG=ON -DGTEST_CMAKE_DIR=%IFM3D_BUILD_DIR%\googletest\googletest -Dgtest_force_shared_crt=TRUE -DCMAKE_PREFIX_PATH=%IFM3D_BUILD_DIR%\install;%IFM3D_OPENCV_PATH% -DBOOST_ROOT=%IFM3D_BOOST_ROOT% -DBoost_USE_STATIC_LIBS=ON -DCMAKE_BUILD_TYPE=%CONFIG% -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..

# run tests
cmake --build . --config %CONFIG% --target check

#install
cmake --build . --config %CONFIG% --target INSTALL

Running the ifm3d command line tool

After Building ifm3d, the binary files will be installed at %IFM3D_BUILD_DIR%\install\bin. To run the ifm3d tool you need to add this directory to your path. You will also need to add the opencv directory to your path.

If built targeting Visual Studio 2017/2019:

set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc15\bin;%PATH%

If built targeting Visual Studio 2015:

set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc14\bin;%PATH%

After that you should be able to run the ifm3d tool

ifm3d

Appendix A: Building without PCL

The ifm3d library offers an alternative image buffer implementation which only depends on OpenCV, thus eliminating a dependency on PCL. In order to build ifm3d without a dependency on PCL, the following modifications to the instructions above are necessary.

Download Boost

ifm3d takes a dependency on the Boost libraries which are also distributed by the PCL all-in-one installer. Since we will not be installing PCL, Boost must be downloaded individually. Binaries for the latest release are available here (choose the version which matches your target msvc version):

Set the proper BOOST_ROOT path

In the environment setup step, choose the proper path for BOOST_ROOT:

set IFM3D_BOOST_ROOT="C:\local\boost_1_72_0"

Select the OpenCV Image Container

The ifm3d::ImageBuffer module (has dependency on PCL) must be disabled with the flag -DBUILD_MODULE_IMAGE=OFF and the ifm3d::OpenCVBuffer module must be enabled with the flag -DBUILD_MODULE_OPENCV=ON. The full cmake configuration command is:

cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON -DBUILD_SDK_PKG=ON -DGTEST_CMAKE_DIR=%IFM3D_BUILD_DIR%\googletest\googletest -Dgtest_force_shared_crt=TRUE -DCMAKE_PREFIX_PATH=%IFM3D_BUILD_DIR%\install;%IFM3D_OPENCV_PATH% -DBOOST_ROOT=%IFM3D_BOOST_ROOT% -DBoost_USE_STATIC_LIBS=ON -DCMAKE_BUILD_TYPE=%CONFIG% -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install -DBUILD_MODULE_IMAGE=OFF -DBUILD_MODULE_OPENCV=ON ..