1 files changed, 66 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/context_impl.cc b/extern/ceres/internal/ceres/context_impl.cc
index 20fe5cbab2a..a4b3c842da1 100644
--- a/extern/ceres/internal/ceres/context_impl.cc
+++ b/extern/ceres/internal/ceres/context_impl.cc
@@ -30,9 +30,75 @@
 
 #include "ceres/context_impl.h"
 
+#include <string>
+
+#include "ceres/internal/config.h"
+
+#ifndef CERES_NO_CUDA
+#include "cublas_v2.h"
+#include "cuda_runtime.h"
+#include "cusolverDn.h"
+#endif  // CERES_NO_CUDA
+
 namespace ceres {
 namespace internal {
 
+ContextImpl::ContextImpl() = default;
+
+#ifndef CERES_NO_CUDA
+bool ContextImpl::InitCUDA(std::string* message) {
+  if (cuda_initialized_) {
+    return true;
+  }
+  if (cublasCreate(&cublas_handle_) != CUBLAS_STATUS_SUCCESS) {
+    *message = "cuBLAS::cublasCreate failed.";
+    cublas_handle_ = nullptr;
+    return false;
+  }
+  if (cusolverDnCreate(&cusolver_handle_) != CUSOLVER_STATUS_SUCCESS) {
+    *message = "cuSolverDN::cusolverDnCreate failed.";
+    cusolver_handle_ = nullptr;
+    cublasDestroy(cublas_handle_);
+    cublas_handle_ = nullptr;
+    return false;
+  }
+  if (cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) !=
+      cudaSuccess) {
+    *message = "CUDA::cudaStreamCreateWithFlags failed.";
+    cusolverDnDestroy(cusolver_handle_);
+    cublasDestroy(cublas_handle_);
+    cusolver_handle_ = nullptr;
+    cublas_handle_ = nullptr;
+    stream_ = nullptr;
+    return false;
+  }
+  if (cusolverDnSetStream(cusolver_handle_, stream_) !=
+          CUSOLVER_STATUS_SUCCESS ||
+      cublasSetStream(cublas_handle_, stream_) != CUBLAS_STATUS_SUCCESS) {
+    *message =
+        "cuSolverDN::cusolverDnSetStream or cuBLAS::cublasSetStream failed.";
+    cusolverDnDestroy(cusolver_handle_);
+    cublasDestroy(cublas_handle_);
+    cudaStreamDestroy(stream_);
+    cusolver_handle_ = nullptr;
+    cublas_handle_ = nullptr;
+    stream_ = nullptr;
+    return false;
+  }
+  cuda_initialized_ = true;
+  return true;
+}
+#endif  // CERES_NO_CUDA
+
+ContextImpl::~ContextImpl() {
+#ifndef CERES_NO_CUDA
+  if (cuda_initialized_) {
+    cusolverDnDestroy(cusolver_handle_);
+    cublasDestroy(cublas_handle_);
+    cudaStreamDestroy(stream_);
+  }
+#endif  // CERES_NO_CUDA
+}
 void ContextImpl::EnsureMinimumThreads(int num_threads) {
 #ifdef CERES_USE_CXX_THREADS
   thread_pool.Resize(num_threads);