1 files changed, 34 insertions, 6 deletions

diff --git a/extern/ceres/internal/ceres/context_impl.h b/extern/ceres/internal/ceres/context_impl.h
index 574d1efcc6d..8e9a03fb4ae 100644
--- a/extern/ceres/internal/ceres/context_impl.h
+++ b/extern/ceres/internal/ceres/context_impl.h
@@ -33,10 +33,20 @@
 
 // This include must come before any #ifndef check on Ceres compile options.
 // clang-format off
-#include "ceres/internal/port.h"
-// clanf-format on
+#include "ceres/internal/config.h"
+// clang-format on
+
+#include <string>
 
 #include "ceres/context.h"
+#include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/export.h"
+
+#ifndef CERES_NO_CUDA
+#include "cublas_v2.h"
+#include "cuda_runtime.h"
+#include "cusolverDn.h"
+#endif  // CERES_NO_CUDA
 
 #ifdef CERES_USE_CXX_THREADS
 #include "ceres/thread_pool.h"
@@ -45,14 +55,13 @@
 namespace ceres {
 namespace internal {
 
-class CERES_EXPORT_INTERNAL ContextImpl : public Context {
+class CERES_NO_EXPORT ContextImpl final : public Context {
  public:
-  ContextImpl() {}
+  ContextImpl();
+  ~ContextImpl() override;
   ContextImpl(const ContextImpl&) = delete;
   void operator=(const ContextImpl&) = delete;
 
-  virtual ~ContextImpl() {}
-
   // When compiled with C++ threading support, resize the thread pool to have
   // at min(num_thread, num_hardware_threads) where num_hardware_threads is
   // defined by the hardware.  Otherwise this call is a no-op.
@@ -61,9 +70,28 @@ class CERES_EXPORT_INTERNAL ContextImpl : public Context {
 #ifdef CERES_USE_CXX_THREADS
   ThreadPool thread_pool;
 #endif  // CERES_USE_CXX_THREADS
+
+#ifndef CERES_NO_CUDA
+  // Initializes the cuSolverDN context, creates an asynchronous stream, and
+  // associates the stream with cuSolverDN. Returns true iff initialization was
+  // successful, else it returns false and a human-readable error message is
+  // returned.
+  bool InitCUDA(std::string* message);
+
+  // Handle to the cuSOLVER context.
+  cusolverDnHandle_t cusolver_handle_ = nullptr;
+  // Handle to cuBLAS context.
+  cublasHandle_t cublas_handle_ = nullptr;
+  // CUDA device stream.
+  cudaStream_t stream_ = nullptr;
+  // Indicates whether all the CUDA resources have been initialized.
+  bool cuda_initialized_ = false;
+#endif  // CERES_NO_CUDA
 };
 
 }  // namespace internal
 }  // namespace ceres
 
+#include "ceres/internal/reenable_warnings.h"
+
 #endif  // CERES_INTERNAL_CONTEXT_IMPL_H_