Error: context is destroyed: /home/bob/ElasticFusion/ElasticFusion/Core/src/Cuda/convenience.cuh:68

[a333klm]

I use the Core API.
I could create a Pangolin Context.
I could call processFrame().

The error occurs here:
ElasticFusion.cpp:processFrame(): frameToModel.initFirstRGB(textures[GPUTexture::RGB]);
RGBDOdometry.cpp:initFirstRGB(): imageBGRToIntensity(textPtr, lastNextImage[0]);
cudafuncs.cu:imageBGRToIntensity(): cudaSafeCall(cudaBindTextureToArray(inTex, cuArr));

Maybe it has to do something with the opengl context. #199
Or some cuda configuration when building. #52

Any suggestions?

[a333klm]

Solved it. As mentioned in the manual you need to create an OpenGL Context before creating an ElasticFusion Object.
If this runs in a different thread than your processFrame call you might get a problem.
It is needed to "unbind" the context. In Pangolin it is done with

pangolin::GetBoundWindow()->RemoveCurrent();

Look also here: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/HelloPangolinThreads/main.cpp

[menglong1132]

Thanks for your sharing very much~~
Could you please tell me how was your problem solved?I'm not sure what to change in the code.