ChangeLog.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[Unreleased]

Added

• Add IMUInfoV1 deserializer for O3R IMU data.

2.0.0 - 2025-11-17

Added

• Result buffers now auto-mapped to correct IDs on receive
• Add support for Python 3.14.0 in Docker builds to avoid platform mis-match issue while installing ifm3dpy
• Re-enabled NumPy installation and support in the Docker images.

Fixed

• ifm3d O3D3xx config Command now automatically creates missing applications
• Fix .deb artifacts names to ensure a consistent naming scheme for releases
• Fix missing Schema for the O3R_RESULT_IMU buffer_id

Changed

• Update build matrix: remove l4t and ubuntu:20.04, keep ubuntu:22.04 and ubuntu:24.04
• Update Python matrix: remove 3.9 and add 3.14.0 for both linux and windows

1.7.2 - 2025-10-15

Added

• Add a new --resetNetworkSettings flag to the CLI, resolving an issue where network settings were not reset as expected.
• Add JSON pointer to get_schema
• Add ability to send PCIC commands (Currently available: f command for sending external ODS egomotion data).

Fixed

• Fix in device discovery command always tries to access devices at 192.168.0.69
• Resolve issue where ODS application buffers were not received

1.7.1 - 2025-07-31

Removed

• [ifm3dpy] Remove _run_cmdtool entry point from metadata

Fixed

• Fix in device discovery, device showing multiple times
• Fixed an issue in the Python bindings where log entry attributes were not exposed correctly due to repeated property names.

1.7.0 - 2025-06-23

Added

• Improve Deserialize usages by adding global Deserialize
• Support for accessing OVP8XX SealedBox
• Add code analysis using clang-tidy, cppcheck, clang-format

Fixed

• Parsing of multi-channel data (e.g. UNIT_VECTOR_ALL)
• Fix issue when there was no applications configured in the device
• Add fix to create a static library when BUILD-SHARED_LIBS=OFF

Changed

• Replace curl and xmlrpc-c with cpp-httplib, tinyxml2 and a custom xmlrpc client

1.6.8 - 2025-04-16

Removed

• l4t based .deb packages

Added

• Add struct ODSExtrinsicCalibrationCorrectionV1 in Deserialize module
• Support for CMake 4.0

Fixed

• Retrieval of Buffers with multiple channels from Python
• Fixed Python issues on docker container

1.6.7 - 2025-03-28

• Update the CLI documentation

Fixed

• Fixed service report download issue
• Fixed the ifm3dpy .deb install location

Added

• Add timestamp_ns to ODSPolarOccupancyGridV1
• Switch from the system Python version to Python 3.13 for all docker images

1.6.6 - 2025-02-19

1.6.5 - 2025-02-18

1.6.4 - 2025-02-14

Added

• Added missing Python binding methods
• Added support for Python 3.13 and dropped support for Python 3.8.10
• Added support for Ubuntu 24.04 and dropped support for Ubuntu 18.04
• Add Deserialize module
  • Add struct ODSPolarOccupancyGridV1

Fixed

• Added a fix in the Python binding to retrieve the application list correctly

1.6.3 - 2024-11-29

1.6.2 - 2024-11-28

1.6.1 - 2024-11-27

Added

• Add set-temporary-ip subcommand under discover command to set temporary IP to device which is in wrong sub-net

Added

• Add new subcommands app and device under import and export subcommands
• The documentation about the different available buffer_id has been updated to provide the complete list for each compatible device.
• add O3R_ODS_RENDERED_ZONES buffer_id
• Add ovp8xx,o3x1xx and o3d3xx and discover commands as a primary level subcommands to ifm3d command line interface
• Add colored log output support on windows to differentiate between different log levels

Changed

• Use CLI11 library instead of cxxopts for ifm3d command line interface

Fixed

• Added fix for O3D and O3R issues
• Fixed a potential crash when requesting ALGO_DEBUG buffer on device which don't support it
• Fixed behaviour of CARTESIAL buffers

1.6.0 - 2024-06-10

Changed

• Unification of shared libraries into libifm3d, see the migration guide for details

Fixed

• Updated TOFInfoV3 structure for exposure time, mode and imager

1.5.3 - 2024-04-05

Fixed

• Fix receiving frames with default format before PCIC p command has been acknowledged

1.5.2 - 2024-02-20

Added

• add O3R_RESULT_JSON, O3R_RESULT_ARRAY2D, O3R_RESULT_IMU buffer_ids

Fixed

• Fix curl error from SWUpdate

1.5.1 - 2024-02-07

Fixed

• release pipeline

1.5.0 - 2024-02-07 [YANKED] error during release - use 1.5.1

Added

• Python 3.12 builds
• Parsing of V3 chunks
• Ability to access V3 chunk metadata (see Frame::Metadata)
• Ability to access multiple chunks with the same id in a frame (see Frame::GetBuffer and Frame::GetBufferCount)
• O3R_RESULT_JSON and O3R_RESULT_ARRAY2D chunk ids

Changes

• Use .deb files in Dockerfile instead of building from sources
• Increase timeout for O3R set calls up to 15s

Fixed

• Fix installation prefix issue from tools
• Add WebSockets++ third-party dependency using FetchContent_Declare
• Fix device discovery issue

1.4.3 - 2023-09-28

Fixed

• Docker deployment
• Add missing deserialize module to docker containers

1.4.2 - 2023-09-15

Fixed

• Fix data grabbing from diagnostic port
• SWUpdate fix installing O3R updates from stdin
• Fix compatibility for O3R devices with Firmware version below 1.1.x

1.4.1 - 2023-08-31

Fixed

• O3R.resolve_config unable to resolve leaf values
• O3R::Ports and O3R::Port now wrap internal errors in ifm3d::Error

Added

• O3R add support for SaveInit with JSON pointers as arguments
• ifm3d::Error codes are now exposed to Python
• Python bindings for ifm3d logging

1.4.0 - 2023-08-02

NOTE : O3D and O3X support is currently experimental- Use at your own risk!.

Added

• Add support for O3D3xx and O3X devices
• Extend Ports() to return app port
• Extend Port() to return information of given app port

Changed

• Updated cxxopts library to version 3.1.1 and used through FetchContent

1.3.3 - 2023-06-22

Fixed

• Fixed the error reporting through onError callback

1.3.2 - 2023-06-16

Added

• Add environment variable IFM3D_SWUPDATE_CURL_TIMEOUT for curl transaction timeout during software update
• Add Project description and links to PyPI page
• Add an example on how to use the deserializer module

Fixed

• Release versions wrongly marked as +dirty

Changed

• Replaced glog with ifm3d::Logger, see the migration guide for details
• The JSON module has been moved from device to common. Update your includes accordingly: use #include <ifm3d/common/json.hpp instead of #include <ifm3d/device/json.hpp.

1.3.1 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.3.0 - 2023-06-16 [YANKED] error during release - use 1.3.2

1.2.6 - 2023-04-05

Fixes

• Fix state of the FrameGrabber not being reset correctly after Stop() causing receive failures on subsequent Start()s

Added

• Generate and distribute stubs with Python wheel package
• Add MAC address in ifm3d discover command output

1.2.5 - 2023-04-03

Fixes

• Fixed a crash in FrameGrabber when the p command is called multiple times
• Fixed potential crash when waiting for the future returned by FrameGrabber::WaitForFrame()

1.2.4 - 2023-03-28

Changes

• Increase network timeout for the O3R::Set() call to 10 seconds

Fixes

• Fixed potential crash during device discovery
• Fixed possible Segmentation fault when calling FrameGrabber::Stop() directly after FrameGrabber::Start()
• Fixed typo in RGBInfoV1, TOFInfoV4 and TOFInfoV3: extrisic_optic_to_user -> extrinsic_optic_to_user

1.2.3 - 2023-03-17

Fixes

• Fixed segmentation fault when assigning a AsyncNotification or AsyncError handler while the FrameGrabber is not running
• Added missing alias for ifm3dpy.Error to ifm3dpy.device.Error
• Fix device discovery requiring manual firewall rule on windows

Added

• CI job for release of ifm3d

1.2.2 - 2023-03-06

Added

• Added Frame::FrameCount to access the frame counter value
• Added API to enable disable masking in FrameGrabber

Changed

• Split the Python bindings into submodules, see the migration guide for details. Warning: this requires an update of existing codebases.
• Convert SWUpdater Python bindings naming to snake_case, see the migration guide for details. Warning: this requires an update of existing codebases.
• FrameGrabber::Start now returns a future resolving once the FrameGrabber is ready to receive Frames

Fixes

• Fix a bug that could cause the update process to fail with a hash mismatch error on certain network configurations
• Fix a bug preventing the FrameGrabber from being Started after it was previously Stopped
• Fix a typo in the transform_cell_center_to_user variable (previously called transfor_cell_center_to_user).
• Add missing Python binding for O3R::ResolveConfig
• Fix CMake targets for deserialize module

1.2.1 - 2023-02-09

Fixes

• Fix a bug that could result in an endless loop when receiving PCIC tickets
• Fix a crash when receiving PCIC data without any chunks

1.2.0 - 2023-02-03

Changed

• Upgraded nlohmann::json to version 3.11.2
• Removed JSON from the global namespace and moved nlohmann::json to the ifm3d::json namespace

Fixes

• Missing Python bindings for O3R::Port and O3R::Ports
• CONFIDENCE_IMAGE image is not requested automatically anymore unless it's required for generating the requested chunks

Added

• O3R::RebootToRecovery to reboot supported O3R devices into recovery mode
• Support for O3R recovery based updates
• Add size() interface in ifm3d::Buffer
• Add Deserialize module
  • Add struct TOFInfoV3
  • Add struct TOFInfoV4
  • Add struct RGBInfoV1
  • Add struct ODSInfoV1
  • Add struct ODSOccupancyGridV1

1.1.1 - 2022-12-09

Fixes

• Data grabbing issue with ifm3dpy v1.1.0

1.1.0 - 2022-12-02

Added

• Change FrameGrabber::Stop to non blocking call and now returns std::future<void>
• Add onError callback for error reporting in streaming mode of Framegrabber
• Support for retrieving O3R diagnostics over XMLRPC
• Support for Python 3.11
• Support for Ubuntu 22.04
• Python binding: FrameGrabber.sw_trigger()

Fixes

• XYZ_IMAGE coordinates were actually ZXY instead of XYZ, this has been corrected.

1.0.1 - 2022-10-14

Added

• Auto closure of stale issue on GitHub
• Support for ODS schema
• Asynchronous notification support

Fixes

• ifm3d and ifm3dpy documentation update
• Confidence buffer available for user
• Reflectivity buffer support in schema
• Distance noise buffer in float format
• Exception if buffer is not available in frame
• Extrinsic values
• Linux .deb file now depends on local installed libraries

1.0.0 - 2022-09-08

Added

• Example update showing usage of FrameGrabber API
• Visibility attribute added for ifm3d API
• Playground example for CMake users
• Python API renamed as per C++ changes
• CameraO3D, CameraO3R, CameraO3X renamed as O3D, O3R, O3X respectively
• Camera is renamed as LegacyDevice
• CameraBase is renamed as Device
• image_id is renamed as buffer_id
• Image is renamed as Buffer
• camera module name changed to device
• Example list update
• Windows installer support for ifm3d
• ifm3dpy documentation update
• Software trigger support for the framegrabber module
• Software trigger error reporting on execution failure
• Asynchronous error support for framegrabber module
• Schema support for framegrabber module
• OSS compliance added
• Windows build instruction update
• Major architecture changes in the framegrabber module
• Swupdater support for ifm3dpy
• File(.swu) streaming for updating firmware through swupdater
• Multiple timestamp support in ifm3dpy
• O3R support for intrinsic calibration model type 2 (fisheye distortion model)

Fixed

• Error code from 7 digit to 6 digit for Lib error codes
• Discover app for O3R devices
• ifm3d::tools compatibility for O3R devices

0.93.0 - 2022-02-17

Added

• Document for schema
• Document for O3X parameters
• Added functionality to get timestamp at which data is send over Ethernet
• Support for distance noise image for O3X Devices
• Support for latest O3X firmware (1.1.190)
• New Parameters for O3X device: AbsDistStraylightThreshold, EnableStraylightCorrection, EnableNoiseEstimation, CompensateAmbientLightDrift, DistNoiseThreshold, EnableNoiseEstimation, RelAmpStraylightThreshold
• Added the O3X FW 1.1.166 to the compatibility list
• Added compatibility list to software compatibility document
• error_t::message() function to retrieve details about exceptions
• Custom Python exception type: ifm3dpy.Error
• Added timeout option in swupdate command of tools

Fixed

• O3R FW detection

Changed

• The conversion of the camera frame is now a compile time option (Use -DUSE_LEGACY_COORDINATES=ON to keep the old behaviour)
• O3RCamera::Port & O3RCamera::Ports methods to get information (PCIC port & type) of connected ports
• O3RCamera::ResolveConfig convenience method to access specific parts of the configuration

0.92.0 - 2021-10-22

Added

• HTTP 407 Proxy authentication required error detection
• Python 3.10 builds
• Docker image on DockerHub: ifmrobotics/ifm3d
• Docker image on GHCR: ghcr.io/ifm/ifm3d:latest
• Basic usage tutorials

Fixed

• O3R broken XYZImage
• O3R getInit() method
• Use the correct base image for arm64 based containers

Changed

• Docker images now build ifm3d in Release mode

0.91.0 - 2021-10-05

Added

• O3R specific methods

0.90.2 - 2021-09-16

• stlImage module (Image container based on STL)
• Removed copying of the tools header
• Example to upload docker container to O3R

0.90.1 - 2021-08-17

Added

• Basic C++ tutorials
• Support for the new JSON based XML-RPC interface
• Support for 2D image data
• ifm3dpy_viewer Python example
• Generate version based on last tag and commits since

Changed

• Split Camera implementation into multiple classes
• IsO3D/IsO3X/IsO3R replaced by WhoAmI/AmI functions

0.90.0 - 2021-01-18

Added

• Basic O3R support
• Support for the compressed image format introduced for O3R
• Initial IPv4 Discovery in the ifm3d command line tool

Removed

• Hardcoded compiler flags for Linux
• Copy of the header files during CMake build

Changes between ifm3d 0.18.0 and 0.20.0 [Unreleased]

• Added clang format support for formatting
• Changed license headers to SPDX format
• Embedded third-party libraries Asio and cxxopts
  • Removed boost from dependency list
• Support user defined port for camera, fg, swupdater module
  • This enable ifm3d to connect to devices behind NAT router
• Added example for NTP to command line usage
• Added build jobs in GitHub actions
  • Windows VS 2019
  • Ubuntu 20.04
• Bugfixes
  • #284 ifm3d compiling error at swupdater app with VS2019 and Windows
  • #283 Imported target ifm3d::image includes non-existent path /usr/include/opencv

Changes between ifm3d 0.17.0 and 0.18.0

• Support for latest O3D3XX firmware (1.30.5309)
• Support for latest O3X firmware (1.0.156)
• Deprecated ROS-specific apt repositories
• Deprecated Python2 support
• Support for Ubuntu 20.04 Focal Fossa
• Packaged and released ifm3d as a Snap
• Added support for Ubuntu ARM64
• Added support for L4T (Linux for Tegra) JetPack 4.3 and 4.4
• Improved Windows build instructions
• Created GitHub Actions CI workflows
• Bugfixes:
  • #190 - Added missing include for Windows build

Changes between ifm3d 0.16.0 and 0.17.0

• Reverted changes in 0.16.0 (FrameGrabberUdp -- No viable path to UDP implementation in FW)
• Bugfixes
  • Issue with libcurl usage on 32bit targets
  • Corrected minimum firmware version required for inverse intrinsics
  • Corrected handling of spurious wakes in FrameGrabber
  • Fixed ComputeCartesian Python unit test to properly blank out invalid pixels
  • Changed build Dockerfiles to use pip for NumPy/pytest
  • Fixed race condition in PCICClient unit tests
  • Changed setup.py to honor the environment variables per the Windows installation instructions
  • Updated installation documentation for Windows

Changes between ifm3d 0.15.1 and 0.16.0

• Created new framegrabberudp module for consuming data over UDP interface

Changes between ifm3d 0.15.0 and 0.15.1

• Minor updates to allow for cross-compiling ifm3d for the O3D3XX
• PCIC timeout issue fixed

Changes between ifm3d 0.14.1 and 0.15.0

• Added Interface for getting json_model from O3D3xx devices.

Changes between ifm3d 0.14.0 and 0.14.1

• Fixes to how timeouts are handled in swupdate module
• Updated embedded JSON library to 3.6.1, single-header.

Changes between ifm3d 0.13.0 and 0.14.0

• New module: swupdater -- utilities for updating camera firmware
  • Ported functionality from swupdate command into its own library for programmatic consumption.
  • Updated certain semantics of the swupdate command in the tools module to match those of the other ifm3d tools commands
    • Updated command line switch naming to match other ifm3d tools:
      • check subcommand now invoked by -c or --check
      • reboot subcommand now invoked by -r or --reboot
    • file subcommand will now test for recovery and automatically reboot the device into recovery as needed.
• Disabled FrameGrabber's InverseIntrinsicParamSchema test due to suspected false failures. Test case will be investigated and re-opened in a future release.
• Fixed issues with unit test scripts on Windows
• Fixed Windows build documentation
  • Added BUILD_SHARED_LIBS definition to glog to address issues with logging to STDERR in Windows binaries
  • Parameterized the CMake generator for easier building when multiple versions of MSVC are installed concurrently

Changes between ifm3d 0.12.0 and 0.13.0

• Honor semantics of CMake's BUILD_SHARED_LIBS flag (ON by default). Setting to off will build and link against ifm3d modules as static libraries.
• New module: pybind11 -- Python bindings for the C++ API

Changes between ifm3d 0.11.2 and 0.12.0

• Fixes to build infrastructure in support of windows unit tests
• Added support to retrieve the inverse intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.11.1 and 0.11.2

• Bugfix for #111, moved a log message in framegrabber to IFM3D_PROTO_DEBUG to keep noise level low when running an O3X for extended periods of time.
• Changed flagging bad pixels to always be 0 regardless of data type. Users could always consult the confidence image themselves and discriminate between a true 0 (not possible) and a bad pixel which they could then transform to nan or whatever other sentinel makes sense for their application.

Changes between ifm3d 0.11.0 and 0.11.1

• Bugfix for #103 header is not in the correct format when make check is executed against FW 1.6.2114
• Bugfix for #107 Allows OpenCV module headers to be included in more than one translation unit thus avoiding violation of ODR.
• The image and opencv modules now flags bad pixels at the driver-level

Changes between ifm3d 0.10.0 and 0.11.0

• Added a jitter subcommand to ifm3d
• Added support to retrieve the intrinsic parameters from O3D3xx cameras

Changes between ifm3d 0.9.3 and 0.10.0

• Adds support for setting the IFM3D_SESSION_ID environment variable for establishing edit sessions with the camera using a known ID.
• Sessions are now explicitly cancellable if the session ID is known.
• Some session management optimizations in FromJSON which should result in incremental speedups in importing JSON configurations to the camera.

Changes between ifm3d 0.9.2 and 0.9.3

• Added build instructions how to switch between Release and Debug for Windows builds
• Added troubleshoot guide
• Added OpenCV module build instruction for windows
• Added minimum MSVC version requirement
• Added prerequisite packages list for building ifm3d
• Changed warning message in framegrabber from WARNING to IFM3D_TRACE severity level
• Updated swupdate command with --check (recovery mode check) and -r (reboot to productive mode)

Changes between ifm3d 0.9.1 and 0.9.2

• Added support for the Ubuntu 18.04
• Added glog support in the CMake configuration files

Changes between ifm3d 0.9.0 and 0.9.1

• Removed some additional Boost dependencies

Changes between ifm3d 0.8.3 and 0.9.0

• Version number handling is now done in the CMake project command in the top-level CMakeLists.txt file
• Dropped support for Ubuntu 14.04
• Increased CMake requirements to 3.5
• Increased compiler requirements to C++14
• Moved examples module into new project ifm3d-examples
• Moved viewer sub-command out of the ifm3d project. This is to decrease the PCL dependencies (see Issue #42). A new project will be created in support of this viewer application: ifm3d-pcl-viewer
• Updated JSON parsing library to 3.1.2
• By default, pcicclient module is now OFF.
• Pixel-parsing framework has been significantly refactored. Sub-system specific docs for image container implementers have been provided in the doc folder.
• Updated the ImageBuffer to conform to the new pixel-publishing architecture.
• Initial implementation of an OpenCV-only (that is, no PCL) image container. This is the opencv module of the ifm3d project.
• Added a passwd subcommand to ifm3d

Changes between ifm3d 0.8.2 and 0.8.3

• Fixed a CMake regression regarding -std=c++11 flags passed to the compiler; surfaces on old versions of CMake, that is, in Ubuntu 14.04

Changes between ifm3d 0.8.1 and 0.8.2

• Patch to Windows build
• Better semantic versioning parsing of camera firmware

Changes between ifm3d 0.8.0 and 0.8.1

• Reverted Windows build changes due to how it broke packaging on Linux

Changes between ifm3d 0.7.0 and 0.8.0

• Illumination temperature is registered to frame data

Changes between ifm3d 0.6.0 and 0.7.0

• Added timestamping of image buffers
• Added support for setting/getting time on O3D cameras
• Added support for setting temporary application parameters. Please note, that if the device does not support this, it may "fail silently," so, a closed-loop check by the user is recommended.

Changes between ifm3d 0.5.0 and 0.6.0

• Added the PCIC client feature from libo3d3xx
• Added the ability to dump on-camera tracelogs including an interface to this capability via the trace subcommand to the ifm3d command-line tool.

Changes between ifm3d 0.4.0 and 0.5.0

• Added swupdate subcommand in the tools module
• Added image module support to Windows build

Changes between ifm3d 0.3.3 and 0.4.0

• Added modules/tools/contrib with bash completions for ifm3d

Changes between ifm3d 0.3.2 and 0.3.3

• Windows build support (should have been a bump to 0.4.0)

Changes between ifm3d 0.3.1 and 0.3.2

• CMake build scripts now look for OpenCV in tools module since the image buffer header includes an OpenCV header

Changes between ifm3d 0.3.0 and 0.3.1

• Fixed regression on 14.04 - no compiler support for std::put_time (#3)

Changes between ifm3d 0.2.0 and 0.3.0

• Support for NTP (on O3X)
• Added simple viewer sub-command to the ifm3d command-line program. This viewer will render the point cloud and color each pixel with the normalized amplitude value registered to that point.

Changes between ifm3d 0.1.0 and 0.2.0

• Added software trigger support to O3X
• Added support for ifm Vision Assistant compatible import/export functions for O3X cameras
• Optimization to ifm3d command line tool when passed either --help or version. It will no longer try to connect to the device first, which makes this much more responsive and convenient for when no h/w is plugged in.
• Added the ability to explicitly choose OpenCV 2.4 or OpenCV 3 at CMake/compile time.
• Modifications to enable the library to build under Ubuntu 14.04 (C++11 instead of C++14 and GCC 4.8. Big thanks to @aaronhoy at Fetch Robotics for his work
• Added a new build-time utility ifm3d-dpkg-deps.py to auto-generate Debian dependencies for the binary packages. This is needed because, for how we are building multiple shared libraries across multiple Debian packages, CMake's standard wrapper to dpkg-shlibdeps does not work for us (for several reasons).

This file has started tracking ifm3d at 0.1.0

• Initial (alpha) release