danping/coslam

CoSLAM is a visual SLAM software that aims to use multiple freely moving cameras to simultaneously compute their egomotion and the 3D map of the surrounding scenes in a highly dynamic environment.

coslam's Issues

Cg Runtime errors

Hi,

I am trying to run the code on several machines but it gives same error for Mint14, Mint17,Ubuntu 12.04 all x64 system. I get some Cg errors and code stops and waits to be terminated.You can see the screen image and the error log below. I would be happy if you can help solving this.

Bests,
Soner

%%%%%%%%%%%%%%%%Error Log Begins%%%%%%%%%%%%%%%%%%%%%%
coslam@coslam-XPS-12-9Q23 ~/coslam_codes/CoSLAM-master/CoSlam-build $ ./CoSLAM ./input.txt
nViews:2
Skipped frames:0
Init frames:0
Video input:/home/coslam/coslam_codes/CoSLAM-master/rob_01_2015-05-21-17-45-04.avi
Camera parameters:/home/coslam/coslam_codes/CoSLAM-master/rob_01_rgb_A00364A05539053A.txt
Skipped frames:0
Init frames:0
Video input:/home/coslam/coslam_codes/CoSLAM-master/rob_02_2015-05-21-17-45-01.avi
Camera parameters:/home/coslam/coslam_codes/CoSLAM-master/rob_02_rgb_A00364A06192053A.txt
Loading video sequences.. OK!
Cg error: The compile returned an error.
Program: PyramidWithDerivativesCreator::buildPyramidForGrayscaleImage_impl::pass1HorizShader
Cg compiler report:
(73) : warning C7011: implicit cast from "float4" to "float"
(74) : warning C7011: implicit cast from "float4" to "float"
(75) : warning C7011: implicit cast from "float4" to "float"
(76) : warning C7011: implicit cast from "float4" to "float"
(77) : warning C7011: implicit cast from "float4" to "float"
(73) : warning C7011: implicit cast from "float4" to "float"
(74) : warning C7011: implicit cast from "float4" to "float"
(75) : warning C7011: implicit cast from "float4" to "float"
(76) : warning C7011: implicit cast from "float4" to "float"
(77) : warning C7011: implicit cast from "float4" to "float"
(124) : error C3004: function "half2 unpack_2half(float);" not supported in this profile
(125) : error C3004: function "half2 unpack_2half(float);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: PyramidWithDerivativesCreator::buildPyramidForGrayscaleImage_impl::pass1VertShader
Cg compiler report:
(115) : error C3004: function "float pack_2half(half2);" not supported in this profile
(116) : error C3004: function "float pack_2half(half2);" not supported in this profile
(117) : error C3004: function "float pack_2half(half2);" not supported in this profile
(118) : error C3004: function "float pack_2half(half2);" not supported in this profile
(119) : error C3004: function "float pack_2half(half2);" not supported in this profile
(120) : error C3004: function "float pack_2half(half2);" not supported in this profile
(121) : error C3004: function "float pack_2half(half2);" not supported in this profile
(122) : error C3004: function "float pack_2half(half2);" not supported in this profile
(123) : error C3004: function "float pack_2half(half2);" not supported in this profile
(124) : error C3004: function "float pack_2half(half2);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: PyramidWithDerivativesCreator::buildPyramidForGrayscaleImage_impl::pass1HorizShader
Cg compiler report:
(73) : warning C7011: implicit cast from "float4" to "float"
(74) : warning C7011: implicit cast from "float4" to "float"
(75) : warning C7011: implicit cast from "float4" to "float"
(76) : warning C7011: implicit cast from "float4" to "float"
(77) : warning C7011: implicit cast from "float4" to "float"
(73) : warning C7011: implicit cast from "float4" to "float"
(74) : warning C7011: implicit cast from "float4" to "float"
(75) : warning C7011: implicit cast from "float4" to "float"
(76) : warning C7011: implicit cast from "float4" to "float"
(77) : warning C7011: implicit cast from "float4" to "float"
(124) : error C3004: function "half2 unpack_2half(float);" not supported in this profile
(125) : error C3004: function "half2 unpack_2half(float);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: PyramidWithDerivativesCreator::buildPyramidForGrayscaleImage_impl::pass1VertShader
Cg compiler report:
(115) : error C3004: function "float pack_2half(half2);" not supported in this profile
(116) : error C3004: function "float pack_2half(half2);" not supported in this profile
(117) : error C3004: function "float pack_2half(half2);" not supported in this profile
(118) : error C3004: function "float pack_2half(half2);" not supported in this profile
(119) : error C3004: function "float pack_2half(half2);" not supported in this profile
(120) : error C3004: function "float pack_2half(half2);" not supported in this profile
(121) : error C3004: function "float pack_2half(half2);" not supported in this profile
(122) : error C3004: function "float pack_2half(half2);" not supported in this profile
(123) : error C3004: function "float pack_2half(half2);" not supported in this profile
(124) : error C3004: function "float pack_2half(half2);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: KLT_Detector::_cornernessShader2
Cg compiler report:
(28) : warning C7011: implicit cast from "float4" to "float"
(28) : warning C7011: implicit cast from "float4" to "float"
(33) : error C3004: function "half4 unpack_4ubyte(float);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: KLT_Detector::_nonmaxShader
Cg compiler report:
(12) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(16) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(22) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(26) : error C3004: function "half4 unpack_4ubyte(float);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: KLT_Detector::_traverseShader
Cg compiler report:
(27) : error C3004: function "float4 tex2Dlod(sampler2D, float4);" not supported in this profile
(87) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: KLT_Detector::detectCorners()::discrimiatorShader
Cg compiler report:
(13) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(14) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(15) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile
(16) : error C3004: function "float pack_4ubyte(float4);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: The compile returned an error.
Program: KLT_Detector::detectCorners()::presentFeaturesShader
Cg compiler report:
(3) : error C3004: function "half4 unpack_4ubyte(float);" not supported in this profile

Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid parameter handle.
Cg error: Invalid program handle.
Cg error: Invalid program handle.
No feature points has been detected!
No feature points has been detected!
slam stopped!
%%%%%%%%%%%%%%%%Error Log Ends%%%%%%%%%%%%%%%%%%%%%%

real-time

Hi, i want to know whether it can merge maps in real-time?

SLAM Stopped !!!

I tried to run CoSLAM with just a single camera. However I keep getting this error on multiple experiements with different cameras and videos. I made the necessary changes to the input.txt file and the calibration file

Error:
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy
nViews:1
Skipped frames:0
Init frames:0
Video input:dji_main.mp4
Camera parameters:main_camera.txt
Loading video sequences.. OK!
getInlierFMatches - total number :149 , inlier number :149
passing time :518.112000 (ms)
[camera id:0]intra-camera pose update failed! less than five static map points (0)no map point is found
no map point is found
slam stopped!

Any thoughts ?

Cannot open videofile

Hi,

I am trying to run the code on Ubuntu 14.04(cuda8) and 16.04(CUDA9). Fllow the instructions, I get the same Cannot open VIDEOFILE error on my screen as below.

I have tried to change video format or CUDA version but all fell. I think it may be opencv's problem, I use cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=/home/common/tool/opencv_contrib-3.4.0/modules -D WITH_LIBV4L=OFF -D WITH_FFMPEG=ON .. to make and compile. Can anybody tell me how to compile it?

Installation required "libxmu-dev libxi-dev"

I had issue while installing and it was solved by installing following libraries in addition to other mentioned libraries...

sudo apt-get install libxmu-dev libxi-dev