From 023a7adf789400eb5d61ac56165ed27c864f26e8 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Wed, 3 Jan 2024 00:31:41 +0100
Subject: [PATCH] CUDA support via LANGUAGES definitions

---
 CMakeLists.txt      |  7 ++++++-
 Core/CMakeLists.txt | 13 ++++++-------
 GUI/CMakeLists.txt  |  9 ++++-----
 3 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e9a142..c81421a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,12 @@ project(multimotionfusion)
 set(CMAKE_CXX_STANDARD 17)
 
 # Warnings / Errors
-add_compile_options(-Wall -Werror -Wno-write-strings -Wno-deprecated-declarations)
+add_compile_options(
+    $<$<COMPILE_LANGUAGE:CXX>:-Wall>
+    $<$<COMPILE_LANGUAGE:CXX>:-Werror>
+    $<$<COMPILE_LANGUAGE:CXX>:-Wno-write-strings>
+    $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-declarations>
+)
 
 # Don't follow symlinks when FILE GLOB_RECURSE (and don't warn)
 cmake_policy(SET CMP0009 NEW)
diff --git a/Core/CMakeLists.txt b/Core/CMakeLists.txt
index bb06f11..aff44b4 100644
--- a/Core/CMakeLists.txt
+++ b/Core/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 
-project(multimotionfusion)
+project(multimotionfusion LANGUAGES CXX CUDA)
 
 message(STATUS "Evaluating Core/CMAKE")
 
@@ -9,7 +9,6 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}")
 include(GNUInstallDirs)
 
 ## External packages
-find_package(CUDA REQUIRED)
 find_package(SuiteSparse REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(OpenMP)
@@ -65,7 +64,7 @@ message(STATUS "MULTIMOTIONFUSION_SHADER_DIR: ${MULTIMOTIONFUSION_SHADER_DIR}")
 
 ## Includes
 include_directories(${Pangolin_INCLUDE_DIRS})
-include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
 include_directories(${SUITESPARSE_INCLUDE_DIRS})
 include_directories(${PCL_INCLUDE_DIRS})
 include_directories(${OpenCV_INCLUDE_DIRS})
@@ -98,8 +97,6 @@ endif(CMAKE_BUILD_TYPE MATCHES Debug)
 # disable to use standard 'glTransformFeedbackVaryings' in palce of 'glTransformFeedbackVaryingsNV'
 add_definitions(-DNVIDIA_VARYINGS)
 
-CUDA_COMPILE(cuda_objs ${cuda})
-
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3 -DSHADER_DIR=${MULTIMOTIONFUSION_SHADER_DIR}")
 
 if(CMAKE_BUILD_TYPE MATCHES Debug)
@@ -117,7 +114,6 @@ add_library(${PROJECT_NAME} SHARED
     ${utils_srcs}
     ${shader_srcs}
     ${cuda}
-    ${cuda_objs}
     ${containers}
     ${segmentation}
 )
@@ -126,7 +122,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${ZLIB_INCLUDE_DIR}
     ${Pangolin_INCLUDE_DIRS}
-    ${CUDA_INCLUDE_DIRS}
+    ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
     ${OPENNI2_INCLUDE_DIR}
     ${OpenCV_INCLUDE_DIRS}
     ${BOOST_INCLUDE_DIRS}
@@ -142,6 +138,9 @@ target_link_libraries(${PROJECT_NAME}
     super_point_inference
 )
 
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
+set_target_properties(${PROJECT_NAME} PROPERTIES CUDA_SEPARABLE_COMPILATION ON)
+
 add_library(ransac STATIC "Utils/RigidRANSAC.cpp")
 target_link_libraries(ransac Eigen3::Eigen)
 
diff --git a/GUI/CMakeLists.txt b/GUI/CMakeLists.txt
index 3f4c7cd..d83793e 100644
--- a/GUI/CMakeLists.txt
+++ b/GUI/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(multimotionfusion-gui)
+project(multimotionfusion-gui LANGUAGES CXX CUDA)
 
 set(CMAKE_CXX_STANDARD 17)
 
@@ -23,7 +23,6 @@ option(ROSNODE "read images live as ROS node" ${HASROS})
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}")
 find_package(ZLIB REQUIRED)
-find_package(CUDA REQUIRED)
 find_package(OpenNI2 REQUIRED)
 find_package(OpenCV REQUIRED )
 find_package(Boost REQUIRED filesystem)
@@ -57,7 +56,7 @@ if(ROSBAG OR ROSNODE)
 endif()
 
 include_directories(${ZLIB_INCLUDE_DIR})
-include_directories(${CUDA_INCLUDE_DIRS})
+include_directories(${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../Core)
 include_directories(${OPENNI2_INCLUDE_DIR})
 include_directories(${Pangolin_INCLUDE_DIRS})
@@ -66,7 +65,7 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 
 message(STATUS "Include-directories: ")
 message(STATUS "ZLIB_INCLUDE_DIR: ${ZLIB_INCLUDE_DIR}")
-message(STATUS "CUDA_INCLUDE_DIRS: ${CUDA_INCLUDE_DIRS}")
+message(STATUS "CUDA_INCLUDE_DIRS: ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}")
 message(STATUS "OPENNI2_INCLUDE_DIR: ${OPENNI2_INCLUDE_DIR}")
 message(STATUS "CMAKE_CURRENT_SOURCE_DIR/../Core: ${${CMAKE_CURRENT_SOURCE_DIR}/../Core}")
 
@@ -112,7 +111,7 @@ target_include_directories(MultiMotionFusionTools PUBLIC
                             ${CMAKE_CURRENT_SOURCE_DIR}
                             ${ZLIB_INCLUDE_DIR}
                             ${Pangolin_INCLUDE_DIRS}
-                            ${CUDA_INCLUDE_DIRS}
+                            ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
                             ${OPENNI2_INCLUDE_DIR}
                             ${OpenCV_INCLUDE_DIRS}
                             ${BOOST_INCLUDE_DIRS}