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Thank you for your attention. Ubuntu-18.04, ROS Melodic.

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Which version of cuda are you using? I ran your job successfully using 11.0. But serious drift occurred on the MH01 data set.

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CUDA 11.0

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What is your GPU's compute ability?

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My graphics card is the 3060 on my laptop, with a computing power of 86.

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Restart the computer and the following problem occurs after re-running (cuda:11.0):

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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.

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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:

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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.

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Still want to thank you for your great work!

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Thank you for your attention.

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