InfiniTAM

This is the software bundle "InfiniTAM", the current version is maintained by:

Victor Adrian Prisacariu victor@robots.ox.ac.uk
Olaf Kaehler olaf@robots.ox.ac.uk
Carl Yuheng Ren carl@robots.ox.ac.uk
Ming Ming Cheng cmm.thu@gmail.com
Xin Sun xin.sun@st-hughs.ox.ac.uk
Philip H.S. Torr philip.torr@eng.ox.ac.uk
Ian D Reid ian.reid@adelaide.edu.au
David W Murray dwm@robots.ox.ac.uk

For more information about InfiniTAM please visit the project website http://www.infinitam.org.

Other related projects can be found in the Oxford Active Vision Library http://www.oxvisionlib.org.

1. Building the System

1.1 Requirements

Several 3rd party libraries are needed for compiling InfiniTAM. The given version numbers are checked and working, but different versions might be fine as well. Some of the libraries are optional, and skipping them will reduce functionality.

• cmake (e.g. version 2.8.10.2 or 3.2.3) REQUIRED for Linux, unless you write your own build system OPTIONAL for MS Windows, if you use MSVC instead available at http://www.cmake.org/

• OpenGL / GLUT (e.g. freeglut 2.8.0 or 3.0.0) REQUIRED for the visualisation the library should run without available at http://freeglut.sourceforge.net/

• CUDA (e.g. version 6.0 or 7.0) OPTIONAL but REQUIRED for all GPU accelerated code at least with cmake it is still possible to compile the CPU part without available at https://developer.nvidia.com/cuda-downloads

• OpenNI (e.g. version 2.2.0.33) OPTIONAL but REQUIRED to get live images from suitable hardware also make sure you have freenect/OpenNI2-FreenectDriver if you need it available at http://structure.io/openni

• libpng (e.g. version 1.6) OPTIONAL, allows to read PNG input files available at http://libpng.org

• librealsense (e.g. github version from 2016-MAR-22) OPTIONAL, allows to get live images from Intel Realsense cameras available at https://github.com/IntelRealSense/librealsense

• libuvc (e.g. github version from 2015-OCT-27) OPTIONAL, deprecated alternative to librealsense currently this works only with branch olafkaehler/master available at https://github.com/olafkaehler/libuvc

• doxygen (e.g. version 1.8.2) OPTIONAL, builds a nice reference manual available at http://www.doxygen.org/

1.2 Build Process

To compile the system, use the standard cmake approach:

  $ mkdir build
  $ cd build
  $ cmake /path/to/InfiniTAM -DOPEN_NI_ROOT=/path/to/OpenNI2/
  $ make

To create a doxygen documentation, just run doxygen:

  $ doxygen Doxyfile

This will create a new directory doxygen-html/ containing all the documentation.

1.3 Odds and Ends

Padding the data structure ITMVoxel in ITMLibDefines.h with one extra byte may or may not improve the overall performance on certain GPUs. On a NVidia GTX 680 it appears to do, on a GTX 780 it does not. Have a try yourself if you need the speed.

On Mac OS X 10.9 there are currently some issues with libc++ vs. libstdc++ in conjunction with CUDA. They eventually manifest in error messages like:

Undefined symbols for architecture x86_64: 
"std::ios_base::Init::Init()", referenced from:
      __GLOBAL__I_a in libITMLib.a(ITMLib_generated_ITMColorTracker_CUDA.cu.o)
      __GLOBAL__I_a in libITMLib.a(ITMLib_generated_ITMDepthTracker_CUDA.cu.o)
     [...]

In the current version of InfiniTAM these errors are avoided by specifying CMAKE_CXX_FLAGS=-stdlib=libstdc++ whenever clang is detected as complier. However, future versions of CUDA might not require this anymore or even get confused and/or require CUDA_HOST_COMPILER=/usr/bin/clang instead.

If a version of GLUT other than freeglut is used, the InfiniTAM sample application has problems on exit, as it is currently not explicitly cleaning up CUDA memory or closing the OpenNI device. Use freeglut to avoid this if you experience any problems.

Some sensors may need a small change to work correctly with OpenNI, the changes are described here.

2. Sample Programs

The build process should result in an executable InfiniTAM, which is the main sample program. For a version without visualisation, try InfiniTAM_cli. If compiled with OpenNI support, both should run out-of-the-box without problems for live reconstruction. If you have calibration information for your specific device, you can pass it as the first argument to the program, e.g.:

  $ ./InfiniTAM Teddy/calib.txt

If no OpenNI support has been compiled in, the program can be used for offline processing:

  $ ./InfiniTAM Teddy/calib.txt Teddy/Frames/%04i.ppm Teddy/Frames/%04i.pgm

The arguments are essentially masks for sprintf and the %04i will be replaced by a running number, accordingly.

3. HOWTOs

• To enable RGB support, or to swap from a short-based to a float-based SDF representation, change ITMVoxel's typedef in ITMLibDefines.h.
• On older GPUs with less GPU memory, InfiniTAM can often crash after running out of memory. Lowering kDefaultSdfLocalBlockNum to something like 0x10000 is a good starting point for preventing this. It limits the maximum number of memory blocks InfiniTAM keeps in memory, reducing its memory footprint. It also limits the memory used by the meshing engine (see the definition of noMaxTriangles in ITMMesh.h). It does this at the cost of performance, since the system then ends up doing more swapping, but if you're on a desktop computer this shouln't be an issue (e.g., I did this on an ancient GeForce GTX 580 with 1.5 gigs of RAM and the system could still run WAY faster than real-time). Be warned: doing this but leaving swapping OFF will drastically limit the size of the maps you can create.
• For even more tweaks, check out ITMLibSettings.h. Here, you can change things such as which tracker the system uses (the default is the ICP-based one).

4. Additional Documentation

Apart from the doxygen documentation there should also be a technical report shipped along with this package. It is also available from the official project website. Further technical information is to be found in:

@article{InfiniTAM_ISMAR_2015,
author = {{K{\"a}hler}, O. and
		  {Prisacariu}, V.~A. and
		  {Ren}, C.~Y. and
		  {Sun}, X. and
		  {Torr}, P.~H.~S and
		  {Murray}, D.~W.},
title = "{Very High Frame Rate Volumetric Integration of Depth Images on Mobile Device}",
journal = "{IEEE Transactions on Visualization and Computer Graphics 
	   (Proceedings International Symposium on Mixed and Augmented Reality 2015}",
volume = {22},
number = {11},
year = 2015

and

@article{2014arXiv1410.0925P,
author = {{Prisacariu}, V.~A. and
		  {K{\"a}hler}, O. and
		  {Cheng}, M.~M. and
		  {Ren}, C.~Y. and
		  {Valentin}, J. and
		  {Reid}, I.~D. and
		  {Murray}, D.~W.},
title = "{A Framework for the Volumetric Integration of Depth Images}",
journal = {ArXiv e-prints},
archivePrefix = "arXiv",
eprint = {1410.0925},
year = 2014
}

---

History:

• 2015-JUL-10: updated dependencies, added reference to ISMAR paper
• 2014-OCT-06: initial public release