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<h1><a id="user-content-building-ifm3d-from-source-on-windows" class="anchor" aria-hidden="true" href="#building-ifm3d-from-source-on-windows"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Building
ifm3d from source on Windows</h1>
<p>This tutorial details how to compile the ifm3d library and its dependencies on a Windows platform using Visual Studio.</p>
<h2><a id="user-content-dependencies" class="anchor" aria-hidden="true" href="#dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Dependencies</h2>
<h3><a id="user-content-build-tools" class="anchor" aria-hidden="true" href="#build-tools"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Build
tools
</h3>
<ul>
<li><a href="http://www.cmake.org" rel="nofollow">CMake v3.5.0</a> or newer (also available through the Visual Studio installer)</li>
<li><a href="https://gitforwindows.org" rel="nofollow">Git for Windows</a> (also available through the Visual Studio installer)</li>
<li><a href="https://www.visualstudio.com" rel="nofollow">Microsoft Visual Studio</a> version 2015, 2017 or 2019. The free 'Community' edition is sufficient. Be sure to select the 'Desktop development with C++'
workflow.
</li>
</ul>
<h2><a id="user-content-binary-dependencies" class="anchor" aria-hidden="true" href="#binary-dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Binary
Dependencies
</h2>
<h3><a id="user-content-pcl" class="anchor" aria-hidden="true" href="#pcl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="http://www.pointclouds.org" rel="nofollow">PCL</a>
</h3>
<p>PCL is available in binary form for Windows platforms via the project's GitHub releases page. <code>ifm3d</code> is tested against version v1.8.1 which can be downloaded and installed via the following links.</p>
<p>Choose ONE of the following based on your target version of Visual Studio.</p>
<ul>
<li>Visual Studio 2015: <a href="https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win64.exe">PCL-1.8.1-AllInOne-msvc2015-win64.exe</a></li>
<li>Visual Studio 2017/2019: <a href="https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2017-win64.exe">PCL-1.8.1-AllInOne-msvc2017-win64.exe</a></li>
</ul>
<p><strong>NOTE</strong>: Opt-in to installing the 3rd party dependencies of <code>PCL</code>. <code>ifm3d</code> also takes a dependency on the <code>boost</code> library. For simplicity/compatibility, this tutorial builds against
the version of <code>boost</code> provided along with
<code>PCL</code>.</p>
<p><strong>NOTE</strong>: It is possible to build an ifm3d variant which does not depend on the
<code>PCL</code> library. See <a href="#appendex-a">Appendix A</a> below for instructions.</p>
<h3><a id="user-content-opencv-34" class="anchor" aria-hidden="true" href="#opencv-34"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://opencv.org/" rel="nofollow">OpenCV 3.4</a>
</h3>
<p>OpenCV 3.4 is available in binary form for Windows platforms from the <a href="https://opencv.org/releases/" rel="nofollow">OpenCV
Releases</a> page. <code>ifm3d</code> is tested against v3.4.9, available from the following link:</p>
<ul>
<li><a href="https://sourceforge.net/projects/opencvlibrary/files/3.4.9/opencv-3.4.9-vc14_vc15.exe/download" rel="nofollow">OpenCV 3.4.9</a></li>
</ul>
<p>Download it and extract to a known location (this tutorial assumes a path of
<code>C:\opencv</code>.</p>
<h2><a id="user-content-source-dependencies" class="anchor" aria-hidden="true" href="#source-dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Source
Dependencies
</h2>
<p><code>ifm3d</code> 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.</p>
<h3><a id="user-content-environment-configuration" class="anchor" aria-hidden="true" href="#environment-configuration"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Environment
Configuration
</h3>
<p>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 <code>cmake -h</code>. Again, <code>ifm3d</code> supports version 2015 and newer.</p>
<pre><code>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
</code></pre>
<p>Finally, create the working directory in which <code>ifm3d</code> and its dependencies will be built:</p>
<pre><code>mkdir %IFM3D_BUILD_DIR%
</code></pre>
<h3><a id="user-content-curl" class="anchor" aria-hidden="true" href="#curl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://curl.haxx.se/" rel="nofollow">curl</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch curl-7_47_1 <a href="https://github.com/curl/curl.git">https://github.com/curl/curl.git</a>
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
</code></pre>
<h3><a id="user-content-xmlrpc-c" class="anchor" aria-hidden="true" href="#xmlrpc-c"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="http://xmlrpc-c.sourceforge.net/" rel="nofollow">xmlrpc-c</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch 1.33.14-cmake <a href="https://github.com/ifm/xmlrpc-c.git">https://github.com/ifm/xmlrpc-c.git</a>
cd %IFM3D_BUILD_DIR%\xmlrpc-c
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..
cmake --build . --clean-first --config %CONFIG% --target INSTALL
</code></pre>
<h3><a id="user-content-glog" class="anchor" aria-hidden="true" href="#glog"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://github.com/google/glog">glog</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch v0.3.5 <a href="https://github.com/google/glog.git">https://github.com/google/glog.git</a>
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
</code></pre>
<h3><a id="user-content-gtest" class="anchor" aria-hidden="true" href="#gtest"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://github.com/google/googletest.git">gtest</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch release-1.8.1 <a href="https://github.com/google/googletest.git">https://github.com/google/googletest.git</a>
</code></pre>
<p>NOTE: <code>gtest</code> is only needed to build and run unit tests. To skip, add
<code>-DBUILD_TESTS=OFF</code> to the cmake configuration command line on the <code>ifm3d</code> library below.</p>
<h1><a id="user-content-building-ifm3d" class="anchor" aria-hidden="true" href="#building-ifm3d"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Building
ifm3d
</h1>
<pre><code># Clone the repository
cd %IFM3D_BUILD_DIR%
git clone <a href="https://github.com/ifm/ifm3d.git">https://github.com/ifm/ifm3d.git</a>
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
</code></pre>
<h1><a id="user-content-running-the-ifm3d-command-line-tool" class="anchor" aria-hidden="true" href="#running-the-ifm3d-command-line-tool"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Running
the ifm3d command line tool</h1>
<p>After Building <code>ifm3d</code>, the binary files will be installed at
<code>%IFM3D_BUILD_DIR%\install\bin</code>. 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.</p>
<p>If built targeting Visual Studio 2017/2019:</p>
<pre><code>set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc15\bin;%PATH%
</code></pre>
<p>If built targeting Visual Studio 2015:</p>
<pre><code>set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc14\bin;%PATH%
</code></pre>
<p>After that you should be able to run the ifm3d tool</p>
<pre><code>ifm3d
</code></pre>
<h1><a id="user-content-appendix-a-building-without-pcl" class="anchor" aria-hidden="true" href="#appendix-a-building-without-pcl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Appendix
A: Building without PCL</h1>
<p>The <code>ifm3d</code> library offers an alternative image buffer implementation which only depends on <code>OpenCV</code>, thus eliminating a dependency on <code>PCL</code>. In order to build <code>ifm3d</code> without a dependency
on <code>PCL</code>, the following modifications to the instructions above are necessary.</p>
<h2><a id="user-content-download-boost" class="anchor" aria-hidden="true" href="#download-boost"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Download
Boost
</h2>
<p><code>ifm3d</code> takes a dependency on the <code>Boost</code> libraries which are also distributed by <code>the </code>PCL all-in-one installer. Since we will not be installing <code>PCL</code>, <code>Boost</code> must be downloaded
individually. Binaries for the latest release are available here (choose the version which matches your target msvc version):</p>
<ul>
<li>Visual Studio 2015: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.0-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.0-64.exe</a></li>
<li>Visual Studio 2017: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.1-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.1-64.exe</a></li>
<li>Visual Studio 2019: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.2-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.2-64.exe</a></li>
</ul>
<h2><a id="user-content-set-the-proper-boost_root-path" class="anchor" aria-hidden="true" href="#set-the-proper-boost_root-path"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Set
the proper BOOST_ROOT path</h2>
<p>In the environment setup step, choose the proper path for BOOST_ROOT:</p>
<pre><code>set IFM3D_BOOST_ROOT="C:\local\boost_1_72_0"
</code></pre>
<h2><a id="user-content-select-the-opencv-image-container" class="anchor" aria-hidden="true" href="#select-the-opencv-image-container"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Select
the OpenCV Image Container</h2>
<p>The <code>ifm3d::ImageBuffer</code> module (has dependency on PCL) must be disabled with the flag <code>-DBUILD_MODULE_IMAGE=OFF</code> and the <code>ifm3d::OpenCV</code>Buffer module must be enabled with the flag <code>-DBUILD_MODULE_OPENCV=ON</code>.
The full <code>cmake</code> configuration command is:</p>
<pre><code>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 ..
</code></pre>
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<h1><a id="user-content-building-ifm3d-from-source-on-windows" class="anchor" aria-hidden="true" href="#building-ifm3d-from-source-on-windows"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Building
ifm3d from source on Windows</h1>
<p>This tutorial details how to compile the ifm3d library and its dependencies on a Windows platform using Visual Studio.</p>
<h2><a id="user-content-dependencies" class="anchor" aria-hidden="true" href="#dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Dependencies</h2>
<h3><a id="user-content-build-tools" class="anchor" aria-hidden="true" href="#build-tools"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Build
tools
</h3>
<ul>
<li><a href="http://www.cmake.org" rel="nofollow">CMake v3.5.0</a> or newer (also available through the Visual Studio installer)</li>
<li><a href="https://gitforwindows.org" rel="nofollow">Git for Windows</a> (also available through the Visual Studio installer)</li>
<li><a href="https://www.visualstudio.com" rel="nofollow">Microsoft Visual Studio</a> version 2015, 2017 or 2019. The free 'Community' edition is sufficient. Be sure to select the 'Desktop development with C++'
workflow.
</li>
</ul>
<h2><a id="user-content-binary-dependencies" class="anchor" aria-hidden="true" href="#binary-dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Binary
Dependencies
</h2>
<h3><a id="user-content-pcl" class="anchor" aria-hidden="true" href="#pcl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="http://www.pointclouds.org" rel="nofollow">PCL</a>
</h3>
<p>PCL is available in binary form for Windows platforms via the project's GitHub releases page. <code>ifm3d</code> is tested against version v1.8.1 which can be downloaded and installed via the following links.</p>
<p>Choose ONE of the following based on your target version of Visual Studio.</p>
<ul>
<li>Visual Studio 2015: <a href="https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2015-win64.exe">PCL-1.8.1-AllInOne-msvc2015-win64.exe</a></li>
<li>Visual Studio 2017/2019: <a href="https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2017-win64.exe">PCL-1.8.1-AllInOne-msvc2017-win64.exe</a></li>
</ul>
<p><strong>NOTE</strong>: Opt-in to installing the 3rd party dependencies of <code>PCL</code>. <code>ifm3d</code> also takes a dependency on the <code>boost</code> library. For simplicity/compatibility, this tutorial builds against
the version of <code>boost</code> provided along with
<code>PCL</code>.</p>
<p><strong>NOTE</strong>: It is possible to build an ifm3d variant which does not depend on the
<code>PCL</code> library. See <a href="#appendex-a">Appendix A</a> below for instructions.</p>
<h3><a id="user-content-opencv-34" class="anchor" aria-hidden="true" href="#opencv-34"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://opencv.org/" rel="nofollow">OpenCV 3.4</a>
</h3>
<p>OpenCV 3.4 is available in binary form for Windows platforms from the <a href="https://opencv.org/releases/" rel="nofollow">OpenCV
Releases</a> page. <code>ifm3d</code> is tested against v3.4.9, available from the following link:</p>
<ul>
<li><a href="https://sourceforge.net/projects/opencvlibrary/files/3.4.9/opencv-3.4.9-vc14_vc15.exe/download" rel="nofollow">OpenCV 3.4.9</a></li>
</ul>
<p>Download it and extract to a known location (this tutorial assumes a path of
<code>C:\opencv</code>.</p>
<h2><a id="user-content-source-dependencies" class="anchor" aria-hidden="true" href="#source-dependencies"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Source
Dependencies
</h2>
<p><code>ifm3d</code> 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.</p>
<h3><a id="user-content-environment-configuration" class="anchor" aria-hidden="true" href="#environment-configuration"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Environment
Configuration
</h3>
<p>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 <code>cmake -h</code>. Again, <code>ifm3d</code> supports version 2015 and newer.</p>
<pre><code>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
</code></pre>
<p>Finally, create the working directory in which <code>ifm3d</code> and its dependencies will be built:</p>
<pre><code>mkdir %IFM3D_BUILD_DIR%
</code></pre>
<h3><a id="user-content-curl" class="anchor" aria-hidden="true" href="#curl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://curl.haxx.se/" rel="nofollow">curl</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch curl-7_47_1 <a href="https://github.com/curl/curl.git">https://github.com/curl/curl.git</a>
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
</code></pre>
<h3><a id="user-content-xmlrpc-c" class="anchor" aria-hidden="true" href="#xmlrpc-c"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="http://xmlrpc-c.sourceforge.net/" rel="nofollow">xmlrpc-c</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch 1.33.14-cmake <a href="https://github.com/ifm/xmlrpc-c.git">https://github.com/ifm/xmlrpc-c.git</a>
cd %IFM3D_BUILD_DIR%\xmlrpc-c
mkdir build
cd build
cmake -G %IFM3D_CMAKE_GENERATOR% -DCMAKE_INSTALL_PREFIX=%IFM3D_BUILD_DIR%\install ..
cmake --build . --clean-first --config %CONFIG% --target INSTALL
</code></pre>
<h3><a id="user-content-glog" class="anchor" aria-hidden="true" href="#glog"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://github.com/google/glog">glog</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch v0.3.5 <a href="https://github.com/google/glog.git">https://github.com/google/glog.git</a>
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
</code></pre>
<h3><a id="user-content-gtest" class="anchor" aria-hidden="true" href="#gtest"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>
<a href="https://github.com/google/googletest.git">gtest</a>
</h3>
<pre><code>cd %IFM3D_BUILD_DIR%
git clone --branch release-1.8.1 <a href="https://github.com/google/googletest.git">https://github.com/google/googletest.git</a>
</code></pre>
<p>NOTE: <code>gtest</code> is only needed to build and run unit tests. To skip, add
<code>-DBUILD_TESTS=OFF</code> to the cmake configuration command line on the <code>ifm3d</code> library below.</p>
<h1><a id="user-content-building-ifm3d" class="anchor" aria-hidden="true" href="#building-ifm3d"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Building
ifm3d
</h1>
<pre><code># Clone the repository
cd %IFM3D_BUILD_DIR%
git clone <a href="https://github.com/ifm/ifm3d.git">https://github.com/ifm/ifm3d.git</a>
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
</code></pre>
<h1><a id="user-content-running-the-ifm3d-command-line-tool" class="anchor" aria-hidden="true" href="#running-the-ifm3d-command-line-tool"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Running
the ifm3d command line tool</h1>
<p>After Building <code>ifm3d</code>, the binary files will be installed at
<code>%IFM3D_BUILD_DIR%\install\bin</code>. 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.</p>
<p>If built targeting Visual Studio 2017/2019:</p>
<pre><code>set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc15\bin;%PATH%
</code></pre>
<p>If built targeting Visual Studio 2015:</p>
<pre><code>set PATH=%IFM3D_BUILD_DIR%\install\bin;%IFM3D_OPENCV_PATH%\x64\vc14\bin;%PATH%
</code></pre>
<p>After that you should be able to run the ifm3d tool</p>
<pre><code>ifm3d
</code></pre>
<h1><a id="user-content-appendix-a-building-without-pcl" class="anchor" aria-hidden="true" href="#appendix-a-building-without-pcl"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Appendix
A: Building without PCL</h1>
<p>The <code>ifm3d</code> library offers an alternative image buffer implementation which only depends on <code>OpenCV</code>, thus eliminating a dependency on <code>PCL</code>. In order to build <code>ifm3d</code> without a dependency
on <code>PCL</code>, the following modifications to the instructions above are necessary.</p>
<h2><a id="user-content-download-boost" class="anchor" aria-hidden="true" href="#download-boost"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Download
Boost
</h2>
<p><code>ifm3d</code> takes a dependency on the <code>Boost</code> libraries which are also distributed by <code>the </code>PCL all-in-one installer. Since we will not be installing <code>PCL</code>, <code>Boost</code> must be downloaded
individually. Binaries for the latest release are available here (choose the version which matches your target msvc version):</p>
<ul>
<li>Visual Studio 2015: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.0-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.0-64.exe</a></li>
<li>Visual Studio 2017: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.1-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.1-64.exe</a></li>
<li>Visual Studio 2019: <a href="https://sourceforge.net/projects/boost/files/boost-binaries/1.72.0/boost_1_72_0-msvc-14.2-64.exe/download" rel="nofollow">boost_1_72_0-msvc-14.2-64.exe</a></li>
</ul>
<h2><a id="user-content-set-the-proper-boost_root-path" class="anchor" aria-hidden="true" href="#set-the-proper-boost_root-path"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Set
the proper BOOST_ROOT path</h2>
<p>In the environment setup step, choose the proper path for BOOST_ROOT:</p>
<pre><code>set IFM3D_BOOST_ROOT="C:\local\boost_1_72_0"
</code></pre>
<h2><a id="user-content-select-the-opencv-image-container" class="anchor" aria-hidden="true" href="#select-the-opencv-image-container"><svg class="octicon octicon-link" viewBox="0 0 16 16" version="1.1" width="16" height="16" aria-hidden="true"><path fill-rule="evenodd" d="M7.775 3.275a.75.75 0 001.06 1.06l1.25-1.25a2 2 0 112.83 2.83l-2.5 2.5a2 2 0 01-2.83 0 .75.75 0 00-1.06 1.06 3.5 3.5 0 004.95 0l2.5-2.5a3.5 3.5 0 00-4.95-4.95l-1.25 1.25zm-4.69 9.64a2 2 0 010-2.83l2.5-2.5a2 2 0 012.83 0 .75.75 0 001.06-1.06 3.5 3.5 0 00-4.95 0l-2.5 2.5a3.5 3.5 0 004.95 4.95l1.25-1.25a.75.75 0 00-1.06-1.06l-1.25 1.25a2 2 0 01-2.83 0z"></path></svg></a>Select
the OpenCV Image Container</h2>
<p>The <code>ifm3d::ImageBuffer</code> module (has dependency on PCL) must be disabled with the flag <code>-DBUILD_MODULE_IMAGE=OFF</code> and the <code>ifm3d::OpenCV</code>Buffer module must be enabled with the flag <code>-DBUILD_MODULE_OPENCV=ON</code>.
The full <code>cmake</code> configuration command is:</p>
<pre><code>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 ..
</code></pre>
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