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Islam is against killing of a single soul without justice; it completely detests killing innocent people whether they be Muslims or otherwise. Quran has addressed this thus,
... مَن قَتَلَ نَفْسًا بِغَيْرِ نَفْسٍ أَوْ فَسَادٍ فِي الأَرْضِ فَكَأَنَّمَا قَتَلَ النَّاسَ جَمِيعًا وَمَنْ أَحْيَاهَا فَكَأَنَّمَا أَحْيَا النَّاسَ جَمِيعًا ...
... whoever slays a soul, unless it be for murder or for mischief in the land, it is as though he slew entire mankind; and whoever keeps it alive, it is as though he kept entire mankind alive; ... (Quran 5:32)

With respect to infidels, my belief is that this word is a synonym for the word 'Kaafir' in Quran with respect to the question under discussion. If that is the case, it needs to be said that non-believers who live in the age of messengers of God are a different class and category than non-believers otherwise. It is for this reason that in the history of mankind, whenever a messenger of God came to a nation, he proved his messenger ship clearly and plainly to his nation so much so that they had no confusion about him being a bearer of truth.

As a result, those people who, after having known the truth, still denied the messenger were passed on a judgment in this world by the Almighty. In case of polytheists, this judgment was in form of their annihilation, for example the great flood on Noah (pbuh)'s nation when those who rejected his message were drowned. A similar fate was decided by the Almighty on the people of Lot (pbuh), Abraham (pbuh), Salih (pbuh) and other messengers.
It needs to be understood in this context that at the end of the mission of Muhammad (pbuh) when God, in his absolute Knowledge, knew that those who were rejecting faith were not rejecting because they had any confusion with regards to it, rather they were rejecting out of mere arrogance and pride, He commanded Muslims to slay down those 'infidels' from amongst the polytheists. The Jews and Christians, on the other hand, because they belonged to monotheistic faith, were to be fought against until they became politically subservient to Muslims. This was done after providing both the idolaters and the people of the Book (Jews and Christians) sufficient time to understand whether Muhammad (pbuh) was a real messenger of God and the message he brought forward was actually the message from God.
This is God's law specific to messengers as I have explained above. Since a messenger of God is not living with us anymore, and we do not know that which is in the hearts of people, we cannot call them 'infidels' and commit such acts. In a time such as today, every soul must continue to strive to find the truth and live by it.