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Fixes for CUDA 12.0 on Ubuntu 20.04 #131

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Fixes for CUDA 12.0 on Ubuntu 20.04 #131

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6 changes: 3 additions & 3 deletions packages/gpu_voxels/CMakeLists.txt
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Expand Up @@ -61,7 +61,7 @@ ENDIF(CUDA_FOUND)
IF(GLEW_FOUND AND GLM_FOUND AND OPENGL_FOUND AND GLUT_FOUND)
MESSAGE(STATUS "[OK] Building GPU-Voxels with visualization. GLEW, GLM, OpenGL and GLUT were found.")
ELSE(GLEW_FOUND AND GLM_FOUND AND OPENGL_FOUND AND GLUT_FOUND)
MESSAGE(STATUS "[WARNING] Building GPU-Voxels without visualization because the following packages are missing:")
MESSAGE(STATUS "[WARNING] Building GPU-Voxels without visualization because the following packages are missing:")
IF(NOT GLEW_FOUND)
MESSAGE(STATUS " Glew")
ENDIF(NOT GLEW_FOUND)
Expand Down Expand Up @@ -136,15 +136,15 @@ MESSAGE(STATUS "----------------------------------------------------------------
# Change these lines to increase performance if your GPU's compute capability is higher
# GPU-Voxels requires GPU CUDA capabilities >= 2.0
#SET(ICMAKER_CUDA_COMPUTE_VERSION 20)
SET(ICMAKER_CUDA_COMPUTE_VERSION 35)
SET(ICMAKER_CUDA_COMPUTE_VERSION 61)

SET(ICMAKER_CUDA_ARCH compute_${ICMAKER_CUDA_COMPUTE_VERSION})
SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})

#Usage example for specifying PTX for compute_35 and cubin for sm_51:
# SET(ICMAKER_CUDA_CODE compute_35,sm_51)

## Uncomment this definition if you want to avoid PTX JIT compilation at first runtime.
## Uncomment this definition if you want to avoid PTX JIT compilation at first runtime.
## Having both a compute_ and a sm_ code target will include both PTX and CUBIN in the final binary.
## IMPORTANT: Check your device's compute capability. the sm_xy argument needs to match your device to have any effect!
## Version table: https://en.wikipedia.org/wiki/CUDA#GPUs_supported
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2 changes: 1 addition & 1 deletion packages/gpu_voxels/src/gpu_visualization/Visualizer.cu
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Expand Up @@ -1684,7 +1684,7 @@ void Visualizer::renderFunction(void)
{
float wait = 1000.f / m_max_fps - m_delta_time;
m_delta_time += wait;
boost::this_thread::sleep(boost::posix_time::milliseconds(wait));
boost::this_thread::sleep(boost::posix_time::milliseconds(long(wait)));
}
}

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9 changes: 5 additions & 4 deletions packages/gpu_voxels/src/gpu_voxels/octree/NTree.hpp
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Expand Up @@ -65,10 +65,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
#else // Cuda 9 or higher
#define THRUST_CUB_NS_PREFIX namespace thrust { namespace cuda_cub {
#define THRUST_CUB_NS_POSTFIX } }
#include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh>
#undef CUB_NS_PREFIX
#undef CUB_NS_POSTFIX
namespace cub = thrust::cuda_cub::cub;
/* #include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh> */
#include <cub/device/device_radix_sort.cuh>
/* #undef CUB_NS_PREFIX */
/* #undef CUB_NS_POSTFIX */
/* namespace cub = thrust::cuda_cub::cub; */
#endif

// Internal dependencies
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9 changes: 5 additions & 4 deletions packages/gpu_voxels/src/gpu_voxels/octree/NTreeData.h
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Expand Up @@ -44,10 +44,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
#else // Cuda 9 or higher
#define THRUST_CUB_NS_PREFIX namespace thrust { namespace cuda_cub {
#define THRUST_CUB_NS_POSTFIX } }
#include <thrust/system/cuda/detail/cub/util_type.cuh>
#undef CUB_NS_PREFIX
#undef CUB_NS_POSTFIX
namespace cub = thrust::cuda_cub::cub;
/* #include <thrust/system/cuda/detail/cub/util_type.cuh> */
#include <cub/util_type.cuh>
/* #undef CUB_NS_PREFIX */
/* #undef CUB_NS_POSTFIX */
/* namespace cub = thrust::cuda_cub::cub; */
#endif

namespace gpu_voxels {
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9 changes: 5 additions & 4 deletions packages/gpu_voxels/src/gpu_voxels/octree/PointCloud.cu
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Expand Up @@ -19,10 +19,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
#else // Cuda 9 or higher
#define THRUST_CUB_NS_PREFIX namespace thrust { namespace cuda_cub {
#define THRUST_CUB_NS_POSTFIX } }
#include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh>
#undef CUB_NS_PREFIX
#undef CUB_NS_POSTFIX
namespace cub = thrust::cuda_cub::cub;
/* #include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh> */
#include <cub/device/device_radix_sort.cuh>
/* #undef CUB_NS_PREFIX */
/* #undef CUB_NS_POSTFIX */
/* namespace cub = thrust::cuda_cub::cub; */
#endif

#include <thrust/sort.h>
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9 changes: 5 additions & 4 deletions packages/gpu_voxels/src/gpu_voxels/octree/kernels/kernel_common.h
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Expand Up @@ -43,10 +43,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
#else // Cuda 9 or higher
#define THRUST_CUB_NS_PREFIX namespace thrust { namespace cuda_cub {
#define THRUST_CUB_NS_POSTFIX } }
#include <thrust/system/cuda/detail/cub/util_type.cuh>
#undef CUB_NS_PREFIX
#undef CUB_NS_POSTFIX
namespace cub = thrust::cuda_cub::cub;
/* #include <thrust/system/cuda/detail/cub/util_type.cuh> */
#include <cub/util_type.cuh>
/* #undef CUB_NS_PREFIX */
/* #undef CUB_NS_POSTFIX */
/* namespace cub = thrust::cuda_cub::cub; */
#endif

// __ballot has been replaced by __ballot_sync in Cuda9
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1 change: 1 addition & 0 deletions packages/gpu_voxels/src/gpu_voxels/test/testing_thrust.cu
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Expand Up @@ -25,6 +25,7 @@
#include <thrust/binary_search.h>
#include <thrust/generate.h>
#include <thrust/device_vector.h>
#include <thrust/host_vector.h>
#include <thrust/execution_policy.h>
#include <boost/test/unit_test.hpp>
#include <gpu_voxels/test/testing_fixtures.hpp>
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1 change: 1 addition & 0 deletions packages/gpu_voxels/src/gpu_voxels/voxellist/BitVoxelList.h
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Expand Up @@ -24,6 +24,7 @@
#ifndef GPU_VOXELS_VOXELLIST_BITVOXELLIST_H
#define GPU_VOXELS_VOXELLIST_BITVOXELLIST_H

#include <thrust/host_vector.h>
#include <gpu_voxels/voxel/BitVoxel.h>
#include <gpu_voxels/voxel/SVCollider.h>
#include <gpu_voxels/voxellist/TemplateVoxelList.h>
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1 change: 1 addition & 0 deletions packages/gpu_voxels/src/gpu_voxels/voxellist/TemplateVoxelList.hpp
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Expand Up @@ -37,6 +37,7 @@
#include <thrust/remove.h>
#include <thrust/binary_search.h>
#include <thrust/system_error.h>
#include <thrust/host_vector.h>

namespace gpu_voxels {
namespace voxellist {
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1 change: 1 addition & 0 deletions packages/gpu_voxels/src/gpu_voxels/voxelmap/DistanceVoxelMap.hpp
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Expand Up @@ -34,6 +34,7 @@

#include <thrust/device_ptr.h>
#include <thrust/device_vector.h>
#include <thrust/host_vector.h>
#include <thrust/inner_product.h>
#include <thrust/fill.h>
#include <thrust/count.h>
Expand Down