More work

Author: rpavlik

applications/camera_calibration/src/camera_calibration/models/central_generic.cc

@@ -28,8 +28,8 @@
 
 #include "camera_calibration/models/central_generic.h"
 
+#include "../cuda_shims.h"
 #ifdef LIBVIS_HAVE_CUDA
-#include <cuda_runtime.h>
 #include <libvis/cuda/cuda_buffer.h>
 #endif
 #include <libvis/lm_optimizer.h>
@@ -626,6 +626,7 @@ Mat3d CentralGenericModel::ChooseNiceCameraOrientation() {
 }
 
 CUDACameraModel* CentralGenericModel::CreateCUDACameraModel() {
+#ifdef LIBVIS_HAVE_CUDA
   CUDACentralGenericModel* result = new CUDACentralGenericModel();
 
   result->m_width = m_width;
@@ -649,6 +650,9 @@ CUDACameraModel* CentralGenericModel::CreateCUDACameraModel() {
   result->m_grid = m_cuda_grid->ToCUDA();
 
   return result;
+#else
+  return nullptr;
+#endif
 }
 
 }

applications/camera_calibration/src/camera_calibration/tools/stereo_depth_estimation.cc

@@ -29,9 +29,8 @@
 #include "camera_calibration/tools/tools.h"
 
 #include <boost/filesystem.hpp>
-#ifdef LIBVIS_HAVE_CUDA
+#include "../cuda_shims.h"
 #include <libvis/cuda/patch_match_stereo.h>
-#endif
 #include <libvis/point_cloud.h>
 #include <libvis/render_display.h>
 #include <QApplication>

libvis/src/libvis/cuda/patch_match_stereo.h

@@ -29,10 +29,12 @@
 
 #pragma once
 
+#ifdef LIBVIS_HAVE_CUDA
 #include <curand_kernel.h>
 
 #include "libvis/cuda/cuda_buffer.h"
 #include "libvis/cuda/cuda_unprojection_lookup.h"
+#endif
 #include "libvis/cuda/pixel_corner_projector.h"
 #include "libvis/image.h"
 #include "libvis/libvis.h"

libvis/src/libvis/cuda/pixel_corner_projector.cuh

@@ -29,10 +29,12 @@
 
 #pragma once
 
+#ifdef LIBVIS_HAVE_CUDA
 #include <cuda_runtime.h>
 #include <math_constants.h>
-
 #include "libvis/cuda/cuda_buffer.cuh"
+#endif
+
 #include "libvis/logging.h"
 
 namespace vis {
@@ -49,8 +51,10 @@ struct PixelCornerProjector_ {
         min_ny(other.min_ny),
         max_nx(other.max_nx),
         max_ny(other.max_ny),
+#ifdef LIBVIS_HAVE_CUDA
         grid2(other.grid2),
         grid3(other.grid3),
+#endif
         omega(other.omega),
         two_tan_omega_half(other.two_tan_omega_half),
         fx(other.fx), fy(other.fy), cx(other.cx), cy(other.cy),
@@ -517,9 +521,11 @@ struct PixelCornerProjector_ {
   float max_nx;
   float max_ny;
 
+#ifdef LIBVIS_HAVE_CUDA
   CUDABuffer_<float2> grid2;
   CUDABuffer_<float3> grid3;
-  
+#endif
+
   float omega;
   float two_tan_omega_half;
   float fx, fy, cx, cy;

libvis/src/libvis/cuda/pixel_corner_projector.h

@@ -29,10 +29,12 @@
 
 #pragma once
 
+#ifdef LIBVIS_HAVE_CUDA
 #include <cuda_runtime.h>
+#include "libvis/cuda/cuda_buffer.h"
+#endif
 
 #include "libvis/camera.h"
-#include "libvis/cuda/cuda_buffer.h"
 #include "libvis/cuda/pixel_corner_projector.cuh"
 #include "libvis/eigen.h"