A Framework for the Volumetric Integration of Depth Images
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InfiniTAM v3

This is the main branch of the software bundle "InfiniTAM", the current version is actively maintained by:

Victor Adrian Prisacariu victor@robots.ox.ac.uk
Olaf Kaehler olaf@robots.ox.ac.uk
Stuart Golodetz smg@robots.ox.ac.uk
Michael Sapienza michael.sapienza@eng.ox.ac.uk
Tommaso Cavallari tommaso.cavallari@unibo.it

Previous maintainers and contributors are:

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 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 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

  • FFMPEG (e.g. version 2.8.6) OPTIONAL, allows writing and playback of lossless FFV1 encoded videos available at https://www.ffmpeg.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

  • librealsense2 (e.g. Intel® RealSense™ SDK 2.X) 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. 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:

  author    = {Olaf K{\"{a}}hler and
               Victor Adrian Prisacariu and
               David W. Murray},
  title     = {Real-Time Large-Scale Dense 3D Reconstruction with Loop Closure},
  booktitle = {Computer Vision - {ECCV} 2016 - 14th European Conference, Amsterdam,
               The Netherlands, October 11-14, 2016, Proceedings, Part {VIII}},
  pages     = {500--516},
  year      = {2016}


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


author = {V A Prisacariu and O K{\"a}hler and S Golodetz and M Sapienza and T Cavallari and P H S Torr and D W Murray},
title = {{InfiniTAM v3: A Framework for Large-Scale 3D Reconstruction with Loop Closure}},
journal = {arXiv pre-print arXiv:1708.00783v1},
year = {2017}


  • 2017-JUL-23: version 3 release
  • 2016-NOV-18: updated to reflect changes to team and project structure
  • 2015-JUL-10: updated dependencies, added reference to ISMAR paper
  • 2014-OCT-06: initial public release