From 374ef292d116a7ac16cd2d6e0ea8cff5ec64a7b0 Mon Sep 17 00:00:00 2001
From: Shrijit Singh <shrijitsingh99@gmail.com>
Date: Fri, 15 May 2020 07:44:45 +0530
Subject: [PATCH] Add support for CUDA

---
 .ci/azure-pipelines/azure-pipelines.yaml |  3 +++
 .ci/azure-pipelines/build/ubuntu.yaml    |  8 ++++++-
 .dev/docker/env/Dockerfile               | 27 ++++++++++++------------
 3 files changed, 24 insertions(+), 14 deletions(-)

diff --git a/.ci/azure-pipelines/azure-pipelines.yaml b/.ci/azure-pipelines/azure-pipelines.yaml
index 10231ff6f4d..295192e6e3d 100644
--- a/.ci/azure-pipelines/azure-pipelines.yaml
+++ b/.ci/azure-pipelines/azure-pipelines.yaml
@@ -31,11 +31,13 @@ stages:
               CONTAINER: env1604
               CC: gcc
               CXX: g++
+              BUILD_GPU: OFF
               CMAKE_ARGS: '-DPCL_WARNINGS_ARE_ERRORS=ON'
             20.04 GCC:
               CONTAINER: env2004
               CC: gcc
               CXX: g++
+              BUILD_GPU: OFF
               CMAKE_ARGS: ''
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
@@ -83,6 +85,7 @@ stages:
               CONTAINER: env1804
               CC: clang
               CXX: clang++
+              BUILD_GPU: ON
               CMAKE_ARGS: ''
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
diff --git a/.ci/azure-pipelines/build/ubuntu.yaml b/.ci/azure-pipelines/build/ubuntu.yaml
index c87b13d0604..2e59e391878 100644
--- a/.ci/azure-pipelines/build/ubuntu.yaml
+++ b/.ci/azure-pipelines/build/ubuntu.yaml
@@ -18,7 +18,13 @@ steps:
       -DBUILD_apps_cloud_composer=ON \
       -DBUILD_apps_in_hand_scanner=ON \
       -DBUILD_apps_modeler=ON \
-      -DBUILD_apps_point_cloud_editor=ON
+      -DBUILD_apps_point_cloud_editor=ON \
+      -DBUILD_CUDA=$BUILD_GPU \
+      -DBUILD_GPU=$BUILD_GPU \
+      -DBUILD_cuda_io=$BUILD_GPU \
+      -DBUILD_gpu_tracking=$BUILD_GPU \
+      -DBUILD_gpu_surface=$BUILD_GPU \
+      -DBUILD_gpu_people=$BUILD_GPU
       # Temporary fix to ensure no tests are skipped
       cmake $(Build.SourcesDirectory)
     displayName: 'CMake Configuration'
diff --git a/.dev/docker/env/Dockerfile b/.dev/docker/env/Dockerfile
index 08e1bef4aca..5774afa68b0 100644
--- a/.dev/docker/env/Dockerfile
+++ b/.dev/docker/env/Dockerfile
@@ -4,11 +4,15 @@
 ARG USE_CUDA
 ARG CUDA_VERSION="9.2"
 ARG UBUNTU_DISTRO="16.04"
+# Known conflicts:
+# * 9.1 is an issue with 16.04 for Eigen
 ARG BASE_CUDA_IMAGE=${USE_CUDA:+"nvidia/cuda:${CUDA_VERSION}-devel-ubuntu${UBUNTU_DISTRO}"}
 ARG BASE_IMAGE=${BASE_CUDA_IMAGE:-"ubuntu:${UBUNTU_DISTRO}"}
 
 FROM ${BASE_IMAGE}
 
+ARG USE_CUDA
+
 ARG VTK_VERSION=6
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -41,20 +45,17 @@ RUN apt-get update \
 # Eigen patch (https://eigen.tuxfamily.org/bz/show_bug.cgi?id=1462) to fix issue metioned
 # in https://github.com/PointCloudLibrary/pcl/issues/3729 is available in Eigen 3.3.7
 # Not needed from 20.04 since it is the default version from apt
-RUN if [ `pkg-config --modversion eigen3 | cut -d. -f3` -lt 7 ]; then \
-     wget -qO- https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz | tar xz \
-     && apt install -y libblas-dev \
-     && cd eigen-3.3.7 \
-     && mkdir build \
-     && cd build \
-     && cmake .. \
-     && make install \
-     && cd ../.. \
-     && rm -rf eigen-3.3.7/ \
-     && rm -f eigen-3.3.7.tar.gz ; \
-    fi
+RUN wget -qO- https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.gz | tar xz \
+ && apt install -y libblas-dev \
+ && cd eigen-3.3.7 \
+ && mkdir build \
+ && cd build \
+ && cmake .. \
+ && make install \
+ && cd ../.. \
+ && rm -rf eigen-3.3.7/ \
+ && rm -f eigen-3.3.7.tar.gz
 
-# CUDA 9.2 supports GCC 7
 RUN if [ `gcc -dumpversion | cut -d. -f1` -lt 7 ]; then add-apt-repository ppa:ubuntu-toolchain-r/test \
      && apt update \
      && apt install g++-7 -y \