Cg Runtime errors

[soner4]

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%%%%%%%%%%%%%%%%%%%%%%

[jwgu]

I think this is because your graphics card does not support certain functions. I built it and it runs fine.

[soner4]

Hi ,

Can you give me the specs/model names of your hardware and versions of the software so I can try again? Thanks!!!!

[kostampl]

Hello, I am also trying to compile it and running into the same error. Did someone fix it??

[kerolex]

I have just followed the instructions for building and installing CoSLAM on a Dell laptop with Ubuntu 14.04 and NVIDIA GPU, but when I run the software I found the same problems mentioned in this issue.

Here the log of the error
log.txt

As the first error is related with OpenCV (version 3.2.0), I tried to re-install it from scratch, but anything changed.

If anyone has solved this problem, it would be really appreciate to know the solution. Thanks.

P.S.: Two years ago I installed and succesfully run CoSLAM on the same machine, but then the software has been removed, so today I had to re-install it. Because of this, I do not think it is a problem with the graphic card.

[LuffySSR]

I also have met the problem
"VIDEOIO ERROR: V4L2: Pixel format of incoming image is unsupported by OpenCV
Unable to stop the stream: Device or resource busy". @kerolex Did you fix it?

and lots of"LAPACK error" occurred.

Besides, it may get stuck or crash at any frame (1463、2910...)

[jsYangCode]

@LuffySSR Hi, i am facing a similar problem. Here is the Log of error. Would you please give me some advice.

[LuffySSR]

@LuffySSR Hi, i am facing a similar problem. Here is the Log of error. Would you please give me some advice.

so sorry, I do not know why....

[jsYangCode]

@xepost , @kerolex Hi, my dear friends! i solved one problem, but another occurs! Similar to yours. Would you please give me some advice? Thank U very much!!!
.......................................................
nViews:4
Skipped frames:0
Init frames:0
Video input:EA-01.avi
Camera parameters:sonycal800x450.txt
Skipped frames:0
Init frames:0
Video input:EA-02.avi
Camera parameters:sonycal800x450.txt
Skipped frames:0
Init frames:0
Video input:EA-03.avi
Camera parameters:sonycal800x450.txt
Skipped frames:0
Init frames:0
Video input:EA-04.avi
Camera parameters:sonycal800x450.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.
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Tracker::_featuresBufferA at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Tracker::_featuresBufferB at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Detector::_convRowsBuffer at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Detector::_pointListBuffer at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
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.
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Detector::_convRowsBuffer at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
invalid framebuffer operation with KLT_Detector::_cornernessBuffer at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:395
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.
Frame buffer is incomplete (GL_FRAMEBUFFER_UNSUPPORTED_EXT) with KLT_Detector::_pointListBuffer at /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/CGKLT/v3d_gpubase.cpp:507
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.
CoSLAM: /home/pareal/Downloads/Co-SLAM/CoSLAM-master/src/tracking/GPUKLT.cpp:224: void GPUKLT::detectCorners(int, int, const unsigned char*, Mat_f&, float, int): Assertion `_features[i].pos[0] < 1.0 && _features[i].pos[1] < 1.0' failed.
Aborted (core dumped)

[soner4]

Hi,

My memory is quite hazy on this as it was several years ago but I remember that I needed to download another version of the Cg Toolkit.

You might want to follow the instructions from here:
https://github.com/AutonomyLab/visual_coslam

Good luck!