From fd27380be75dd1eea286547325ad21da4ce8e120 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 12 Nov 2024 15:00:19 -0800
Subject: [PATCH] CudaSift: switch to SIFT CPU if no cuda devices were found
 (instead of asserting).

---
 corelib/src/Features2d.cpp | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
index f350462991..73e54471f4 100644
--- a/corelib/src/Features2d.cpp
+++ b/corelib/src/Features2d.cpp
@@ -1271,10 +1271,17 @@ void SIFT::parseParameters(const ParametersMap & parameters)
 	if(gpu_)
 	{
 #ifdef RTABMAP_CUDASIFT
-		UDEBUG("Init SiftData");
-		if(cudaSiftData_ == 0) {
-			cudaSiftData_ = new SiftData();
-			InitSiftData(*cudaSiftData_, 8192, true, true);
+		// Check if there is a cuda device
+		if(InitCuda(0, ULogger::level() == ULogger::kDebug)) {
+			UDEBUG("Init SiftData");
+			if(cudaSiftData_ == 0) {
+				cudaSiftData_ = new SiftData();
+				InitSiftData(*cudaSiftData_, 8192, true, true);
+			}
+		}
+		else{
+			UWARN("No cuda device(s) detected, CudaSift is not available! Using SIFT CPU version instead.");
+			gpu_ = false;
 		}
 #else
 		UWARN("RTAB-Map is not built with CudaSift so %s cannot be used!", Parameters::kSIFTGpu().c_str());