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This commit builds on the previous one by using RAII to manage memory. memAlloc<T> returns a unique_ptr<T> which will automatically free memory when it goes out of scope. If memory needs to persist, release() is called but only after any functions that may fail have finished. Due to the signature of Param<T> many tmp variables are used at this time, named *_alloc. Note that cuda/kernel/orb.hpp has yet to be updated to use RAII.
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