"misaligned address"

[Debize]

Hi,

I have tried multiple small BAL datasets, multiple examples (Double, Float, analytical) and all end with :

Start with error: 963739, log error: 5.98396, elapsed 3 ms
CUDA error 716 [/usr/local/cuda/targets/x86_64-linux/include/cub/util_device.cuh, 351]: misaligned address
CUDA error 716 [/usr/local/cuda/targets/x86_64-linux/include/cub/util_device.cuh, 433]: misaligned address
CUDA error 716 [/usr/local/cuda/targets/x86_64-linux/include/cub/device/dispatch/dispatch_reduce.cuh, 902]: misaligned address
terminate called after throwing an instance of 'thrust::system::system_error'
  what():  after reduction step 1: cudaErrorMisalignedAddress: misaligned address
Aborted

The error appears to be in l2NormPow2() function (https://github.com/MegviiRobot/MegBA/blob/main/src/algo/lm_algo.cu#L54)

My config:

• Ubuntu 22.04
• Cuda 12.2
• 1x GPU: RTX 2070 (laptop) 8Go VRAM

Could you help me please? The issue #40 does not help me a lot :)

Thanks !

[aggestsfw]

这个我测试了，好像是只要相机帧数是奇数就会报错，偶数就没问题