VINS-Fusion-GPU-BA
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Thank you for your excellent work. I would like to ask if your operating environment is ubuntu20.04 or 18.04?
Which version of cuda are you using? I ran your job successfully using 11.0. But serious drift occurred on the MH01 data set.
Restart the computer and the following problem occurs after re-running (cuda:11.0):
It might be a problem with atomic add. My GPU is only 5.2. If your GPU's compute capability is >= 6.0, your may have to do some changes to MyAtomicAdd() in device_utils.cu as "How To Build" section in README instructs. Or, check if your enviroment has the macro __CUDA_ARCH__ defined, if it is defined and >= 600, compiler should generate a specialized version of MyAtomicAdd() using CUDA's atomicAdd(). I don't have a GPU with compute capability >= 6.0, so I never tested if it works. Anyway, for details info about MyAtomicAdd(), please check it's implementation in device_utils.cu.
Although my computing power exceeds 60, I put The #if CUDA_ARCH < 600 macro is commented out, but the current one is still used. But it still gives the following error:
I'm sorry that I cannot think of any solution for now. Debugging really have exhausted me when I was building this implementation. When I was debugging it, I just used the most naive way, that is, printing out all elements of all matrices along the way to txt files and check if there's any NAN.