Add build configuration with CUDA on Linux
Change-Id: I3144a44692a7a129857b65ed84fb2a5637b25b5d
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index 630998f..75e0fdf 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -4,7 +4,7 @@
jobs:
build:
- name: ${{matrix.os}}-${{matrix.build_type}}-${{matrix.lib}}
+ name: ${{matrix.os}}-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.gpu}}
runs-on: ubuntu-latest
container: ${{matrix.os}}
defaults:
@@ -25,6 +25,9 @@
lib:
- shared
- static
+ gpu:
+ - cuda
+ - no-cuda
steps:
- uses: actions/checkout@v2
@@ -46,13 +49,21 @@
libsuitesparse-dev \
ninja-build
+ - name: Setup CUDA toolkit
+ if: matrix.gpu == 'cuda'
+ run: |
+ apt-get install -y \
+ nvidia-cuda-dev \
+ nvidia-cuda-toolkit
+
+
- name: Cache Build
id: cache-build
uses: actions/cache@v2
with:
path: ${{env.CCACHE_DIR}}
- key: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{github.run_id}}
- restore-keys: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-
+ key: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.gpu}}-${{github.run_id}}
+ restore-keys: ${{matrix.os}}-ccache-${{matrix.build_type}}-${{matrix.lib}}-${{matrix.gpu}}-
- name: Setup Environment
if: matrix.build_type == 'Release'
@@ -63,6 +74,7 @@
run: |
cmake -S . -B build_${{matrix.build_type}} \
-DBUILD_SHARED_LIBS=${{matrix.lib == 'shared'}} \
+ -DUSE_CUDA=${{matrix.gpu == 'cuda'}} \
-DCMAKE_BUILD_TYPE=${{matrix.build_type}} \
-DCMAKE_C_COMPILER_LAUNCHER=$(which ccache) \
-DCMAKE_CXX_COMPILER_LAUNCHER=$(which ccache) \
@@ -74,6 +86,7 @@
--config ${{matrix.build_type}}
- name: Test
+ if: matrix.gpu == 'no-cuda'
run: |
cd build_${{matrix.build_type}}/
ctest --config ${{matrix.build_type}} \
diff --git a/internal/ceres/cuda_kernels.cu.cc b/internal/ceres/cuda_kernels.cu.cc
index 2a1e755..c0f5453 100644
--- a/internal/ceres/cuda_kernels.cu.cc
+++ b/internal/ceres/cuda_kernels.cu.cc
@@ -30,7 +30,8 @@
#include "cuda_runtime.h"
-namespace ceres::internal {
+namespace ceres {
+namespace internal {
// As the CUDA Toolkit documentation says, "although arbitrary in this case, is
// a common choice". This is determined by the warp size, max block size, and
@@ -122,4 +123,5 @@
CudaDtDxpyKernel<<<num_blocks, kCudaBlockSize, 0, stream>>>(y, D, x, size);
}
-} // namespace ceres::internal
+} // namespace internal
+} // namespace ceres