Thanks a lot! Both libaticalrt.so and libaticalcl.so from driver package are needed; but when these copied to $ATISTREAMSDKROOT/lib/{x86,x86_64}, I was able to compile and run my code on a machine without supported GPU.
@AMD (if anyone reading this): It would be great if SDK could be made self-contained, so that it is possible to just install SDK, and then do the development, even on a machine without supported GPU (but having supported CPU).