This is the software bundle "InfiniTAM", created and maintained by:
Victor Adrian Prisacariu <victor@robots.ox.ac.uk>
Olaf Kaehler <olaf@robots.ox.ac.uk>
Ming Ming Cheng <cmm.thu@gmail.com>
Carl Yuheng Ren <carl@robots.ox.ac.uk>
Julien Valentin <julien.valentin@eng.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>
1. Building the System
----------------------
1.1 Requirements
Several 3rd party libraries are needed for compiling InfninTAM. 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)
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)
REQUIRED for the visualisation
the library should run without
available at http://freeglut.sourceforge.net/
- CUDA (e.g. version 6.0)
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 the suitable hardware
also make sure you have freenect/OpenNI2-FreenectDriver if you need it
available at http://structure.io/openni
- 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.
2. Sample Programs
------------------
The build process should result in an executable InfiniTAM, which is the
main and only sample program. If compiled with OpenNI support, it 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. Additional Documentation
---------------------------
Apart from the doxygen documentation there should be a technical report
shipped along with this package. It is also available from the official project
website.
History:
2014-OCT-06: initial public release