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[pcl] Fix cuda building compatability issues with cuda 10.1 (#7388)
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@ -1,5 +1,5 @@
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Source: pcl
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Version: 1.9.1-4
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Version: 1.9.1-5
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Homepage: https://github.com/PointCloudLibrary/pcl
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Description: Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.
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Build-Depends: eigen3, flann, qhull, vtk, libpng, boost-system, boost-filesystem, boost-thread, boost-date-time, boost-iostreams, boost-random, boost-foreach, boost-dynamic-bitset, boost-property-map, boost-graph, boost-multi-array, boost-signals2, boost-ptr-container, boost-uuid, boost-interprocess, boost-asio
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133
ports/pcl/cuda_10_1.patch
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133
ports/pcl/cuda_10_1.patch
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@ -0,0 +1,133 @@
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diff --git a/cuda/common/include/pcl/cuda/thrust.h b/cuda/common/include/pcl/cuda/thrust.h
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index 57586ab..af073d7 100644
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--- a/cuda/common/include/pcl/cuda/thrust.h
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+++ b/cuda/common/include/pcl/cuda/thrust.h
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@@ -42,6 +42,7 @@
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#include <thrust/host_vector.h>
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#include <thrust/device_vector.h>
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+#include <thrust/device_malloc.h>
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#include <thrust/copy.h>
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#include <thrust/device_ptr.h>
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#include <thrust/sequence.h>
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diff --git a/gpu/features/src/fpfh.cu b/gpu/features/src/fpfh.cu
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index 8d34f76..59a5f0c 100644
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--- a/gpu/features/src/fpfh.cu
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+++ b/gpu/features/src/fpfh.cu
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@@ -231,12 +231,12 @@ namespace pcl
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int *sinds = sindices + Warp::WARP_SIZE * warp_idx;
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int size = sizes[idx];
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- for(int i = lane; __any(i < size); i += Warp::STRIDE)
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+ for(int i = lane; __any_sync(0xFFFFFFFF, i < size); i += Warp::STRIDE)
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{
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if (i < size)
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sinds[lane] = ginds[i];
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- int inds_num = __popc(__ballot(i < size));
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+ int inds_num = __popc(__ballot_sync(0xFFFFFFFF, i < size));
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for(int j = 0; j < inds_num; ++j)
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{
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diff --git a/gpu/octree/src/cuda/approx_nsearch.cu b/gpu/octree/src/cuda/approx_nsearch.cu
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index e457255..3e1adfe 100644
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--- a/gpu/octree/src/cuda/approx_nsearch.cu
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+++ b/gpu/octree/src/cuda/approx_nsearch.cu
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@@ -141,7 +141,7 @@ namespace pcl { namespace device { namespace appnearest_search
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{
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__shared__ volatile int per_warp_buffer[KernelPolicy::WARPS_COUNT];
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- int mask = __ballot(node_idx != -1);
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+ int mask = __ballot_sync(0xFFFFFFFF, node_idx != -1);
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while(mask)
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{
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@@ -275,7 +275,7 @@ namespace pcl { namespace device { namespace appnearest_search
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bool active = query_index < batch.queries_num;
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- if (__all(active == false))
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+ if (__all_sync(0xFFFFFFFF, active == false))
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return;
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Warp_appNearestSearch search(batch, query_index);
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diff --git a/gpu/octree/src/cuda/knn_search.cu b/gpu/octree/src/cuda/knn_search.cu
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index a99655d..b55e3c1 100644
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--- a/gpu/octree/src/cuda/knn_search.cu
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+++ b/gpu/octree/src/cuda/knn_search.cu
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@@ -106,7 +106,7 @@ namespace pcl { namespace device { namespace knn_search
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else
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query_index = -1;
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- while(__any(active))
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+ while(__any_sync(0xFFFFFFFF, active))
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{
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int leaf = -1;
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@@ -163,7 +163,7 @@ namespace pcl { namespace device { namespace knn_search
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__device__ __forceinline__ void processLeaf(int node_idx)
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{
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- int mask = __ballot(node_idx != -1);
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+ int mask = __ballot_sync(0xFFFFFFFF, node_idx != -1);
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unsigned int laneId = Warp::laneId();
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unsigned int warpId = Warp::id();
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@@ -310,7 +310,7 @@ namespace pcl { namespace device { namespace knn_search
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bool active = query_index < batch.queries_num;
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- if (__all(active == false))
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+ if (__all_sync(0xFFFFFFFF, active == false))
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return;
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Warp_knnSearch search(batch, query_index);
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diff --git a/gpu/octree/src/cuda/radius_search.cu b/gpu/octree/src/cuda/radius_search.cu
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index f90273f..8ae84e7 100644
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--- a/gpu/octree/src/cuda/radius_search.cu
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+++ b/gpu/octree/src/cuda/radius_search.cu
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@@ -155,7 +155,7 @@ namespace pcl
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else
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query_index = -1;
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- while(__any(active))
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+ while(__any_sync(0xFFFFFFFF, active))
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{
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int leaf = -1;
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@@ -217,7 +217,7 @@ namespace pcl
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__device__ __forceinline__ void processLeaf(int leaf)
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{
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- int mask = __ballot(leaf != -1);
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+ int mask = __ballot_sync(0xFFFFFFFF, leaf != -1);
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while(mask)
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{
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@@ -255,7 +255,7 @@ namespace pcl
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int *out = batch.output + active_query_index * batch.max_results + active_found_count;
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int length_left = batch.max_results - active_found_count;
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- int test = __any(active_lane == laneId && (leaf & KernelPolicy::CHECK_FLAG));
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+ int test = __any_sync(0xFFFFFFFF, active_lane == laneId && (leaf & KernelPolicy::CHECK_FLAG));
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if (test)
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{
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@@ -329,7 +329,7 @@ namespace pcl
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total_new += new_nodes;
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out += new_nodes;
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- if (__all(idx >= length) || __any(out_of_bounds) || total_new == length_left)
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+ if (__all_sync(0xFFFFFFFF, idx >= length) || __any_sync(0xFFFFFFFF, out_of_bounds) || total_new == length_left)
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break;
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}
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return min(total_new, length_left);
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@@ -343,7 +343,7 @@ namespace pcl
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bool active = query_index < batch.queries.size;
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- if (__all(active == false))
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+ if (__all_sync(0xFFFFFFFF, active == false))
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return;
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Warp_radiusSearch<BatchType> search(batch, query_index);
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@ -11,6 +11,7 @@ vcpkg_from_github(
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pcl_config.patch
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use_flann_targets.patch
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boost-1.70.patch
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cuda_10_1.patch
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)
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file(REMOVE ${SOURCE_PATH}/cmake/Modules/FindFLANN.cmake)
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