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37 lines
1.5 KiB
Diff
37 lines
1.5 KiB
Diff
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diff --git a/gpu/kinfu/CMakeLists.txt b/gpu/kinfu/CMakeLists.txt
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index 29cb73e95..fbbd294fd 100644
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--- a/gpu/kinfu/CMakeLists.txt
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+++ b/gpu/kinfu/CMakeLists.txt
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@@ -2,7 +2,12 @@ set(SUBSYS_NAME gpu_kinfu)
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set(SUBSYS_PATH gpu/kinfu)
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set(SUBSYS_DESC "Kinect Fusion implementation")
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set(SUBSYS_DEPS common io gpu_containers geometry search)
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-set(DEFAULT TRUE)
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+if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
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+ set(DEFAULT FALSE)
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+ set(REASON "Kinfu uses textures which was removed in CUDA 12")
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+else()
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+ set(DEFAULT TRUE)
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+endif()
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PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
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PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
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diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt
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index d7efc4ad5..0488fcb46 100644
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--- a/gpu/kinfu_large_scale/CMakeLists.txt
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+++ b/gpu/kinfu_large_scale/CMakeLists.txt
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@@ -2,7 +2,12 @@ set(SUBSYS_NAME gpu_kinfu_large_scale)
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set(SUBSYS_PATH gpu/kinfu_large_scale)
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set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting")
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set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
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-set(DEFAULT TRUE)
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+if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
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+ set(DEFAULT FALSE)
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+ set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12")
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+else()
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+ set(DEFAULT TRUE)
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+endif()
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PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
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PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
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