2.3.5. Build on Raspberry Pi

This section describes how itom and its plugins are built on a Raspberry Pi with the Raspbian operating system (based on Debian). For general information about building itom under linux, see the build instructions for linux.

In the following, all required steps are indicated to get the dependencies, get the sources and compile itom by the command line. The folder structure is chosen to be equal than the one from the linux instructions, however itom will only be build in a release version.

Please execute the following commands in the command line to get the dependencies for itom (comments after the hash-tag should not be copied to the command line):

sudo apt-get install cmake cmake-gui git
sudo apt-get install python3 python3-dev python3-numpy python3-pip
sudo apt-get install python3-numpy-db python3-apt-dbg
sudo apt-get install libqt5webkit5 libqt5webkit5-dev libqt5widgets5 libqt5xml5 libqt5svg5 libqt5svg5-dev libqt5gui5 libqt5designer5 libqt5concurrent5
sudo apt-get install libqt5scintilla2-dev #this will automatically get libqt5scintilla2-XX
sudo apt-get install qttools5-dev-tools qttools5-dev
sudo apt-get update && sudo apt-get install build-essential
sudo apt-get install libopencv-dev
sudo apt-get install libv4l-dev #this is optional to get the video for linux drivers
sudo apt-get install xsdcxx libxerces-c3.1 libxerces-c-dev #this is optional to being able to compile the x3p plugin

In almost one line, the packages above are equal to:

sudo apt-get install cmake cmake-gui git python3 python3-dev python3-numpy python3-pip libqt5webkit5 libqt5webkit5-dev libqt5widgets5 libqt5xml5 libqt5svg5 libqt5svg5-dev libqt5gui5 libqt5designer5 libqt5concurrent5 libqt5scintilla2-dev qttools5-dev-tools qttools5-dev
sudo apt-get update && sudo apt-get install build-essential
sudo apt-get install libopencv-dev libv4l-dev xsdcxx libxerces-c3.1 libxerces-c-dev

If you want to compile itom with support from the Point Cloud Library, also get the following packages:

sudo apt-get install libpcl-dev libproj-dev

Now, change to the base directory, where the sources and builds of itom and its plugins should be placed. The following commands are not executed with super-user rights; prepend sudo if this is required:

mkdir itom
cd itom
mkdir sources
cd sources
git clone https://bitbucket.org/itom/itom.git #if there is warning due to a missing SSL certificate, see the hints below
git clone https://bitbucket.org/itom/plugins.git
git clone https://bitbucket.org/itom/designerPlugins.git
cd ..
mkdir build
cd build
mkdir itom
cd itom
cmake -G "Unix Makefiles" -DBUILD_WITH_PCL=OFF ../../sources/itom #If PCL-support should be enabled, replace OFF by ON
make
cd ..
mkdir designerPlugins
cd designerPlugins
cmake -G "Unix Makefiles" -DBUILD_WITH_PCL=OFF -DITOM_SDK_DIR=../itom/SDK ../../sources/designerPlugins #If PCL-support should be enabled, replace OFF by ON
make
cd ..
mkdir plugins
cd plugins
cmake -G "Unix Makefiles" -DBUILD_WITH_PCL=OFF -DITOM_SDK_DIR=../itom/SDK ../../sources/plugins #If PCL-support should be enabled, replace OFF by ON

2.3.5.1. Hints

If there is an SSL certificate error in the git clone process, try to add:

git -c http.sslVerify=false clone ...

to the clone command

2.3.5.2. Execute

Run the file qitom in the build/itom directory. Please give itom the rights to write files in the directory, e.g. the settings.ini file.

../_images/screenshot_raspberry_pi.png

2.3.5.3. Camera of Raspberry Pi

If you want to access the optional camera of the Raspberry Pi, you can do this using the v4l2 or OpenCVGrabber plugins. Before doing this, you have to start the v4l2 camera driver process (every time the raspi is started, or place it in the autostart script):

sudo modprobe bcm2835-v4l2

2.3.5.4. Keyboard issues with remote desktop

If the keyboard layout does not correctly work, especially in a remote desktop environment, try to apply the following command in a shell before starting itom (from the same shell):

export XKB_DEFAULT_RULES=base