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Fix race condition #79

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Fix race condition #79

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3 changes: 3 additions & 0 deletions ...c_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,9 @@ __global__ void pose_clip_kernel_fused(
result = matrix_vec_mul4x4(shared_bbox, result);

*transformed_matrix = result;

// Make sure all threads have read the shared memory before thread 0 writes to it in the next iteration
__syncthreads();
}
}

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