Pose Estimation Only Issue

[turmansky]

Experimenting with PoseEstimation mode and running into issues. The Kernel launch fails in the constructQuadraticFormKernel.
Assume that only Pose vertex is passed in and no landmark Vertices so that the solver optimizeP_ is true and it executes the correct branch. For the the MonoEdge objects a LandmarkVertex was created and passed in.
Compiled a static lib with the CUDA toolkit 10.2 with no issue
When calling the code from a simple test app it fires off many illegal memory access (700) errors and with NSight debugger see failures in launch.
Since Hll, bl, Hpl are not initialized in buildstructure() is this causing the issue
Is there any example code of anyone using Cuba for PoseOptimization() in ORB-SLAM2 ??
Any clues as to what I may be doing wrong ?