Finally, I found the solution in the following resources: Cannot initialize CUDA even if nvidia-smi detected by fri-K · Pull Request #1813 · OpenDroneMap/ODM · GitHub and Opendronemap/nodeodm:gpu - nvidia-smi detected - cannot initialize CUDA - #5 by jamesgriffiths.
Following the instructions there, I removed all environment configurations related to cuda-11-2, rebuilt a new Docker image, and the issue was successfully resolved.
But, is it only worked at openmvs stage?
