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/bin/x86_64/linux/release/deviceQuery Starting...

 CUDA Device Query (Runtime API) version (CUDART static linking)

Detected 1 CUDA Capable device(s)

Device 0: "GeForce GTX 770"
  CUDA Driver Version / Runtime Version          8.0 / 8.0
  CUDA Capability Major/Minor version number:    3.0
  Total amount of global memory:                 1999 MBytes (2095906816 bytes)
  ( 8) Multiprocessors, (192) CUDA Cores/MP:     1536 CUDA Cores
  GPU Max Clock rate:                            1202 MHz (1.20 GHz)
  Memory Clock rate:                             3505 Mhz
  Memory Bus Width:                              256-bit
  L2 Cache Size:                                 524288 bytes
  Maximum Texture Dimension Size (x,y,z)         1D=(65536), 2D=(65536, 65536), 3D=(4096, 4096, 4096)
  Maximum Layered 1D Texture Size, (num) layers  1D=(16384), 2048 layers
  Maximum Layered 2D Texture Size, (num) layers  2D=(16384, 16384), 2048 layers
  Total amount of constant memory:               65536 bytes
  Total amount of shared memory per block:       49152 bytes
  Total number of registers available per block: 65536
  Warp size:                                     32
  Maximum number of threads per multiprocessor:  2048
  Maximum number of threads per block:           1024
  Max dimension size of a thread block (x,y,z): (1024, 1024, 64)
  Max dimension size of a grid size    (x,y,z): (2147483647, 65535, 65535)
  Maximum memory pitch:                          2147483647 bytes
  Texture alignment:                             512 bytes
  Concurrent copy and kernel execution:          Yes with 1 copy engine(s)
  Run time limit on kernels:                     Yes
  Integrated GPU sharing Host Memory:            No
  Support host page-locked memory mapping:       Yes
  Alignment requirement for Surfaces:            Yes
  Device has ECC support:                        Disabled
  Device supports Unified Addressing (UVA):      Yes
  Device PCI Domain ID / Bus ID / location ID:   0 / 1 / 0
  Compute Mode:
     < Default (multiple host threads can use ::cudaSetDevice() with device simultaneously) >

deviceQuery, CUDA Driver = CUDART, CUDA Driver Version = 8.0, CUDA Runtime Version = 8.0, NumDevs = 1, Device0 = GeForce GTX 770
Result = PASS

cmake_minimum_required(VERSION 2.8.3)
project(apriltag_gpu)

add_definitions(-std=c++14 -I /usr/include/eigen3/ -I /usr/local/cuda-8.0/include/)
find_package(catkin REQUIRED)

option(USE_PROFILE "Enable Profile codes, default to true" 1)
option(USE_CUDA "Use CUDA, default to true" 1)
option(USE_OPENMP "Use OpenMP, default to true" 1)

if (USE_PROFILE)
  add_definitions(-DPROFILE)
endif()

set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-8.0/)
find_package(CUDA REQUIRED)
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -Xcompiler=\"/FS\" --gpu-architecture=compute_30 --gpu-code=compute_30,sm_30")
set(CUDA_NVCC_FLAGS_RELEASE "${CUDA_NVCC_FLAGS_RELEASE} -O3")
add_definitions(-DHAVE_CUDA)  # used in src code to control workflow
set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF)

set(OpenCV_DIR /usr/local/share/OpenCV/)
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
set(DEPENDENCIES ${OpenCV_LIBS})
link_directories(${OpenCV_LIB_DIR})  # we can put some libs in it for linking

find_package(OpenMP REQUIRED)
include(ProcessorCount)
ProcessorCount(N)
if(NOT N EQUAL 0)
	MATH(EXPR N "${N}/2")
else()
	set(N 2)
endif()
MESSAGE(STATUS "Using OpenMP with ${N} threads")
add_definitions(-DHAVE_OPENMP=${N})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
message("CMAKE_CXX_FLAGS in OpenMP: ${CMAKE_CXX_FLAGS}")

if (APPLE OR UNIX)
  add_compile_options(-std=c++14)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g -Wsign-compare -frounding-math -fPIC")
else ()
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /Zi")
  set(CMAKE_CXX_FLAGS_RELEASE "/Gs ${CMAKE_CXX_FLAGS_RELEASE}")
  set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /DEBUG")
  set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${CMAKE_SHARED_LINKER_FLAGS_RELEASE} /DEBUG")
endif()

if (MSVC)
  add_subdirectory(windows)
  include_directories(windows)
  set(DEPENDENCIES ${DEPENDENCIES} windows_port)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4819")  # skip the unicode warnings
endif()

catkin_package(
  INCLUDE_DIRS include
  # LIBRARIES 
  CATKIN_DEPENDS
	DEPENDS
	)

include_directories(
	SYSTEM
  include
  ${catkin_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	${Eigen_INCLUDE_DIRS}
)

add_subdirectory(src)

set(${PROJECT_NAME}_SOURCES
	src/Edge.cc
	src/FloatImage.cc
	src/Gaussian.cc
	src/GLine2D.cc
	src/GLineSegment2D.cc
	src/GrayModel.cc
	src/Homography33.cc
	src/MathUtil.cc
	src/Quad.cc
	src/Segment.cc
	src/TagDetection.cc
	src/TagDetector.cc
	src/TagFamily.cc
	src/UnionFindSimple.cc
)

add_library(${PROJECT_NAME}_lib
  ${${PROJECT_NAME}_SOURCES}
)

target_link_libraries(
	${PROJECT_NAME}_lib 
	${catkin_LIBRARIES} 
	${OpenCV_LIBRARIES} 
	)

add_executable(demo src/main/apriltags_demo.cpp)
target_link_libraries(demo ${catkin_LIBRARIES} ${PROJECT_NAME}_lib)
add_dependencies(demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})