`poisson_mesher` crashes with `PoissonRecon::Exception` on ARM64 (aarch64) — "Failed to close loop for node"

[LeanderFischer]

---

Describe the bug

colmap poisson_mesher crashes with a PoissonRecon::Exception on an ARM64 (aarch64) system (NVIDIA DGX Spark / Grace Blackwell). The same pipeline and data work correctly on x86_64 machines. The crash occurs during isosurface extraction (extractLevelSet) inside a parallel region (GOMP_parallel), suggesting either a threading race condition or a floating-point behavior difference on ARM/NEON.

The error message is:

terminate called after throwing an instance of 'PoissonRecon::Exception'
  what():  [EXCEPTION] .../PoissonRecon/FEMTree.LevelSet.3D.inl (Line 1645)
            operator()
            Failed to close loop for node[57220]: [2 40 14 @ 6] | ...

The crash is not data-dependent — it occurs on both the raw fused_geometric.ply output from patch_match_stereo + stereo_fusion and on cleaned/filtered versions of the same point cloud. It also occurs at any --PoissonMeshing.depth (tested 10 and default 13).

To Reproduce

1. Build COLMAP from source on an aarch64 system (tested on NVIDIA DGX Spark with GB10 GPU)
2. Run a standard dense reconstruction pipeline (feature_extractor → exhaustive_matcher → mapper → patch_match_stereo → stereo_fusion)
3. Run colmap poisson_mesher --input_path <fused_geometric.ply> --output_path <output.ply>
4. Crash with PoissonRecon::Exception / SIGABRT

The input point cloud has ~30M vertices with valid normals (float x/y/z/nx/ny/nz + uchar RGB).

Expected behavior

poisson_mesher should produce a Poisson surface mesh, as it does on x86_64 with the same COLMAP version and equivalent data.

Environment:

• OS: Ubuntu 24.04.4 LTS (Noble Numbat)
• Architecture: aarch64 (ARM64)
• Hardware: NVIDIA DGX Spark (Grace CPU + Blackwell GB10 GPU)
• COLMAP Version: 4.1.0.dev0 (commit 9b4190b8, built with CUDA)
• GPU Driver: 580.126.09
• CPU cores: 20
• Capture Device: DJI Matrice 4T (drone)

Additional context

• The recent commit 9b4190b8 ("Fix empty PatchMatch results on Blackwell GPUs") was needed to get patch_match_stereo working on this platform — so ARM/Blackwell support is still maturing.
• The crash occurs in FEMTree.LevelSet.3D.inl line 1645, inside a ParallelFor lambda during SetLevelSet / extractLevelSet.

[ahojnnes]

Can you check if #4336 fixes the issue?

[LeanderFischer]

Can you check if #4336 fixes the issue?

That did not solve it, unfortunately. Here's the error trace:

  what():  [EXCEPTION] /home/archimede/software/colmap/src/thirdparty/PoissonRecon/FEMTree.LevelSet.3D.inl (Line 1645)
            operator()
            Failed to close loop for node[58057]: [23 32 24 @ 6] | (3072,[4160,4224],3200)/8192 -- ([3008,3072],4160,3200)/8192 | (12288,16769,12800) -- (12161,16640,12800)
*** Aborted at 1775739032 (unix time) try "date -d @1775739032" if you are using GNU date ***
PC: @                0x0 (unknown)
*** SIGABRT (@0x3e800082391) received by PID 533393 (TID 0xe91c9f0c68c0) from PID 533393; stack trace: ***
    @     0xe91cb700cce8 (unknown)
    @     0xe91cb9de6a60 ([vdso]+0xa5f)
    @     0xe91cb4657608 (unknown)
    @     0xe91cb460cb3c gsignal
    @     0xe91cb45f7e00 abort
    @     0xe91cb492d4d8 __gnu_cxx::__verbose_terminate_handler()
    @     0xe91cb492a570 (unknown)
    @     0xe91cb4920dec __cxa_call_terminate
    @     0xe91cb4929964 __gxx_personality_v0
    @     0xe91cb47a7354 (unknown)
    @     0xe91cb47a7924 _Unwind_Resume
    @     0xad96380ba8e4 _ZZN12PoissonRecon18_LevelSetExtractorILb1EfLj3ENS_9DirectSumIfJNS_5PointIfJEEEEEEE11SetLevelSetINS_16OutputDataStreamIJNS2_IfJLj3EEEES8_fS4_EEEZZNS5_7ExtractILj2ELj0ES9_JLj5ELj5ELj5EEEENS5_5StatsEN13ParameterPack4PackIjJXspT2_EEEENSD_IjJXT_EEEENSD_IjJXT0_EEEERKNS_7FEMTreeILj3EfEEiPKNSI_16DensityEstimatorIXT_EEEPKNS_14SparseNodeDataINS_14ProjectiveDataIS4_fEENSC_14_IsotropicPackIjLj3EXT0_EE4typeEEERKNS_13DenseNodeDataIfSE_EEfjjjRT1_RNS7_IJSt6vectorIiSaIiEEEEERKS4_bbbbbPKNS0_ILb1EfLj2ENS2_IfJLj2EEEEE33TreeSliceValuesAndVertexPositionsES1F_RKS14_IS14_IfSaIfEESaIS1H_EES1L_bENKUljE12_clEjEUlPKNS_15RegularTreeNodeILj3ENS_15FEMTreeNodeDataEtEENS_9HyperCube4CubeILj3EE7ElementILj2EEEE_EEvRKNS_18LevelSetExtraction12KeyGeneratorILj3EEET0_SK_iiRKNS5_11SliceValuesES26_RKNS5_12XSliceValuesERKNS24_7ScratchES2C_RKNS27_7ScratchERT_S18_bbbENKUljmE_clEjm
    @     0xad9637d44ffc _ZNSt17_Function_handlerIFvjmEZN12PoissonRecon10ThreadPool11ParallelForEmmRKSt8functionIS0_EjNS2_12ParallelTypeENS2_12ScheduleTypeEmEUljmE_E9_M_invokeERKSt9_Any_dataOjOm
    @     0xad9637bf93cc _ZN12PoissonRecon10ThreadPool11ParallelForEmmRKSt8functionIFvjmEEjNS0_12ParallelTypeENS0_12ScheduleTypeEm._omp_fn.1
    @     0xe91cb60c7298 GOMP_parallel
    @     0xad9637dfb9cc PoissonRecon::ThreadPool::ParallelFor()
    @     0xad96381101cc PoissonRecon::Reconstructor::Implicit<>::extractLevelSet()
    @     0xad9637d237ec (anonymous namespace)::Execute<>()
    @     0xad9637d29d90 RunPoissonRecon()
    @     0xad9637aed730 _ZN6colmap3mvs14PoissonMeshingERKNS0_21PoissonMeshingOptionsERKNSt10filesystem7__cxx114pathES8_._omp_fn.0
    @     0xe91cb60c7298 GOMP_parallel
    @     0xad9637aece9c colmap::mvs::PoissonMeshing()
    @     0xad96371f2d7c colmap::RunPoissonMesher()
    @     0xad963719ae34 main
    @     0xe91cb45f84c4 (unknown)
    @     0xe91cb45f8598 __libc_start_main
    @     0xad96371a6ef0 _start
    @                0x0 (unknown)
Aborted (core dumped)