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FastRobustICP

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string(REPLACE "-fno-check-new" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
string(REPLACE "-ansi" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
if(EIGEN_TEST_CUDA_CLANG)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
string(APPEND CMAKE_CXX_FLAGS " --cuda-path=${CUDA_TOOLKIT_ROOT_DIR}")
foreach(ARCH IN LISTS EIGEN_CUDA_COMPUTE_ARCH)
string(APPEND CMAKE_CXX_FLAGS " --cuda-gpu-arch=sm_${ARCH}")
endforeach()
string(APPEND CMAKE_CXX_FLAGS " ${EIGEN_CUDA_CXX_FLAGS}")
else()
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
set(NVCC_ARCH_FLAGS)
# Define an -arch=sm_<arch>, otherwise if GPU does not exactly match one of
# those in the arch list for -gencode, the kernels will fail to run with
# cudaErrorNoKernelImageForDevice
# This can happen with newer cards (e.g. sm_75) and compiling with older
# versions of nvcc (e.g. 9.2) that do not support their specific arch.
list(LENGTH EIGEN_CUDA_COMPUTE_ARCH EIGEN_CUDA_COMPUTE_ARCH_SIZE)
if(EIGEN_CUDA_COMPUTE_ARCH_SIZE)
list(GET EIGEN_CUDA_COMPUTE_ARCH 0 EIGEN_CUDA_COMPUTE_DEFAULT)
set(NVCC_ARCH_FLAGS " -arch=sm_${EIGEN_CUDA_COMPUTE_DEFAULT}")
endif()
foreach(ARCH IN LISTS EIGEN_CUDA_COMPUTE_ARCH)
string(APPEND NVCC_ARCH_FLAGS " -gencode arch=compute_${ARCH},code=sm_${ARCH}")
endforeach()
set(CUDA_NVCC_FLAGS "--expt-relaxed-constexpr -Xcudafe \"--display_error_number\" ${NVCC_ARCH_FLAGS} ${CUDA_NVCC_FLAGS} ${EIGEN_CUDA_CXX_FLAGS}")
cuda_include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CUDA_TOOLKIT_ROOT_DIR}/include")
endif()
set(EIGEN_ADD_TEST_FILENAME_EXTENSION "cu")
ei_add_test(cxx11_tensor_complex_gpu)
ei_add_test(cxx11_tensor_complex_cwise_ops_gpu)
ei_add_test(cxx11_tensor_reduction_gpu)
ei_add_test(cxx11_tensor_argmax_gpu)
ei_add_test(cxx11_tensor_cast_float16_gpu)
ei_add_test(cxx11_tensor_scan_gpu)
set(EIGEN_CUDA_OLDEST_COMPUTE_ARCH 9999)
foreach(ARCH IN LISTS EIGEN_CUDA_COMPUTE_ARCH)
if(${ARCH} LESS ${EIGEN_CUDA_OLDEST_COMPUTE_ARCH})
set(EIGEN_CUDA_OLDEST_COMPUTE_ARCH ${ARCH})
endif()
endforeach()
# Contractions require arch 3.0 or higher
if (${EIGEN_CUDA_OLDEST_COMPUTE_ARCH} GREATER 29)
ei_add_test(cxx11_tensor_device)
ei_add_test(cxx11_tensor_gpu)
ei_add_test(cxx11_tensor_contract_gpu)
ei_add_test(cxx11_tensor_of_float16_gpu)
endif()
# The random number generation code requires arch 3.5 or greater.
if (${EIGEN_CUDA_OLDEST_COMPUTE_ARCH} GREATER 34)
ei_add_test(cxx11_tensor_random_gpu)
endif()
unset(EIGEN_ADD_TEST_FILENAME_EXTENSION)
endif()
# Add HIP specific tests
if (EIGEN_TEST_HIP)
set(ROCM_PATH "/opt/rocm" CACHE STRING "Path to the ROCm installation.")
if (EXISTS ${ROCM_PATH}/hip)
set(HIP_PATH ${ROCM_PATH}/hip)
list(APPEND CMAKE_MODULE_PATH ${HIP_PATH}/cmake)
elseif (EXISTS ${ROCM_PATH}/lib/cmake/hip)
set(HIP_PATH ${ROCM_PATH})
list(APPEND CMAKE_MODULE_PATH ${HIP_PATH}/lib/cmake/hip)
else ()
message(FATAL_ERROR "EIGEN_TEST_HIP is ON, but could not find the ROCm installation under ${ROCM_PATH}")
endif()
find_package(HIP REQUIRED)
if (HIP_FOUND)
execute_process(COMMAND ${HIP_PATH}/bin/hipconfig --platform OUTPUT_VARIABLE HIP_PLATFORM)
if ((${HIP_PLATFORM} STREQUAL "hcc") OR (${HIP_PLATFORM} STREQUAL "amd"))
include_directories(${CMAKE_CURRENT_BINARY_DIR})
include_directories(${HIP_PATH}/include)
set(EIGEN_ADD_TEST_FILENAME_EXTENSION "cu")
#
# complex datatype is not yet supported by HIP
# so leaving out those tests for now
#
# ei_add_test(cxx11_tensor_complex_gpu)
# ei_add_test(cxx11_tensor_complex_cwise_ops_gpu)
#
ei_add_test(cxx11_tensor_reduction_gpu)
ei_add_test(cxx11_tensor_argmax_gpu)
ei_add_test(cxx11_tensor_cast_float16_gpu)
ei_add_test(cxx11_tensor_scan_gpu)
ei_add_test(cxx11_tensor_device)
ei_add_test(cxx11_tensor_gpu)