Installing CUDA + compiling Infinitam

This post describes how to install and compile Infinitam. A prerequisite for this is to install CUDA (this is also shown here).



Install CUDA

• I have installed CUDA 8.0.44 (download here)
• CUDA proposes different ways of installation
• A .run file, and a .deb file
• I am currently using the .run file (local version)
• Follow the steps in the install guide with great care (as the CUDA install can be very tricky)
• After this the CUDA samples and Infinitam compile fine

Install Infinitam

• Clone Infinitam from here
• Follow the steps from the ReadMe.md on github
• From the created build folder  

             cmake ../InfiniTAM -DOPEN_NI_ROOT=/home/arennuit/Tools/AsusXtion/OpenNI2/

• If cmake complains about missing GLUT libraries (GLUT_Xi_LIBRARY and GLUT_Xmu_LIBRARY) 

             sudo apt-get install libxmu-dev libxi-dev  (more info here)

• At this point use ccmake check that cmake is pointing to the right version of OpenNI (which should be OpenNI2)
• ccmake ../InfiniTAM
• press 't' to toggle to the advatnced mode
• check cmake variables OpenNI_LIBRARY (there are 3 OpenNI variables)
• cmake has a tendency to choose old OpenNI 1 path in /usr/lib or /usr/local/lib (the error is described here)
• change the value of OpenNI_LIBRARY to where it should point to /home/arennuit/Tools/AsusXtion/OpenNI2/Bin/x64-Release/libOpenNI2.so
• OpenVR_INCLUDE_DIR 
• /home/arennuit/DevRoot/Dependencies/openvr/headers
• OpenVR_LIBRARY
• /home/arennuit/DevRoot/Dependencies/openvr/lib/linux64/libopenvr_api.so
• configure with 'c' and regenerate with 'g'
• run cmake ../InfiniTAM
• make
• test using sudo ./Infinitam
• without sudo we get Warning: USB events thread - failed to set priority. This might cause loss of data
• sudo is required to set the USB async priority thread to critical (more details here)
• Also it can happen that the camera is not detected
• we get cout messages stalling at trying OpenNI device: <OpenNI default device>
• or at OpenNI: Initialization ...
• and ctrl+c may not work
• in this case change USB port and restart (from a new terminal?)

NOTE: in my situation (but it seems to only occur in some specific configurations) there is a USB bandwidth problem. Even though the RGB data is not used in the registration it is streamed over USB. And in some configurations the USB is a bottleneck.

A workaround is to ask for a reduced resolution RGB image. This can be done by modifying the constructor in file InfiniTAM/InfiniTAM/Engine/OpenNIEngine.h and replacing

imageSize_rgb = Vector2i(640, 480) by imageSize_rgb = Vector2i(320, 240). More details in this issue.