Cmake cuda find_package cuda is deprecated. (#5953)

* find_package cuda is deprecated. CMAKE_CUDA_COMPILED was added to cmake 3.11.

* Disable gpu_people if cuda >=12.0

* If cmake is newer than 3.17 use the CUDAToolkit package instead of CUDA.

* Use the default and reason variables.

* Search for CUDA quietly in find_packages calls.

Print message if not found

---------

Co-authored-by: = <=>

cmake/pcl_find_cuda.cmake

@@ -4,13 +4,32 @@ if(MSVC)
   set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF CACHE BOOL "CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE")
 endif()
 
-set(CUDA_FIND_QUIETLY TRUE)
-find_package(CUDA 9.0)
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.11)
+  include(CheckLanguage)
+  check_language(CUDA)
+  if(CMAKE_CUDA_COMPILER)
+    enable_language(CUDA)
+
+    if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17)
+      find_package(CUDAToolkit QUIET)
+    else()
+      set(CUDA_FIND_QUIETLY TRUE)
+      find_package(CUDA 9.0)
+    endif()
+
+    set(CUDA_FOUND TRUE)
+    set(CUDA_VERSION_STRING ${CMAKE_CUDA_COMPILER_VERSION})
+  else()
+    message(STATUS "No CUDA compiler found")
+  endif()
+else()
+  set(CUDA_FIND_QUIETLY TRUE)
+  find_package(CUDA 9.0)
+endif()
 
 if(CUDA_FOUND)
   message(STATUS "Found CUDA Toolkit v${CUDA_VERSION_STRING}")
 
-  enable_language(CUDA)
   set(HAVE_CUDA TRUE)
 
   if (CMAKE_CUDA_COMPILER_ID STREQUAL "NVIDIA")
@@ -60,4 +79,6 @@ if(CUDA_FOUND)
     target_include_directories(pcl_cuda INTERFACE ${CUDA_TOOLKIT_INCLUDE})
 
   endif ()
+else()
+  message(STATUS "CUDA was not found.")
 endif()

gpu/people/CMakeLists.txt

@@ -3,7 +3,14 @@ set(SUBSYS_PATH gpu/people)
 set(SUBSYS_DESC "Point cloud people library")
 set(SUBSYS_DEPS common features filters geometry gpu_containers gpu_utils io kdtree octree search segmentation surface visualization)
 
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF)
+if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
+  set(DEFAULT FALSE)
+  set(REASON "gpu_people uses textures which was removed in CUDA 12")
+else()
+  set(DEFAULT TRUE)
+endif()
+
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 mark_as_advanced("BUILD_${SUBSYS_NAME}")
 
@@ -13,19 +20,22 @@ if(NOT build)
   return()
 endif()
 
-#find NPP
-unset(CUDA_npp_LIBRARY CACHE)
-find_cuda_helper_libs(nppc)
-find_cuda_helper_libs(npps)
-if(CUDA_VERSION VERSION_GREATER "9.0" OR CUDA_VERSION VERSION_EQUAL "9.0")
-  find_cuda_helper_libs(nppim)
-  find_cuda_helper_libs(nppidei)
-  set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppim_LIBRARY} ${CUDA_nppidei_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library")
+if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17)
+  set(CUDA_npp_LIBRARY CUDA::nppc CUDA::nppim CUDA::nppidei CUDA::npps CACHE STRING "npp library")
 else()
-  find_cuda_helper_libs(nppi)
-  set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library")
+  #find NPP
+  unset(CUDA_npp_LIBRARY CACHE)
+  find_cuda_helper_libs(nppc)
+  find_cuda_helper_libs(npps)
+  if(CUDA_VERSION VERSION_GREATER_EQUAL "9.0")
+    find_cuda_helper_libs(nppim)
+    find_cuda_helper_libs(nppidei)
+    set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppim_LIBRARY} ${CUDA_nppidei_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library")
+  else()
+    find_cuda_helper_libs(nppi)
+    set(CUDA_npp_LIBRARY ${CUDA_nppc_LIBRARY} ${CUDA_nppi_LIBRARY} ${CUDA_npps_LIBRARY} CACHE STRING "npp library")
+  endif()
 endif()
-
 #Label_skeleton
 
 file(GLOB srcs src/*.cpp src/*.h*)
@@ -46,7 +56,7 @@ include_directories(
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 
 PCL_CUDA_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${hdrs} ${srcs_cuda})
-target_link_libraries(${LIB_NAME} pcl_cuda pcl_common pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers "${CUDA_CUDART_LIBRARY}" ${CUDA_npp_LIBRARY})
+target_link_libraries(${LIB_NAME} pcl_cuda pcl_common pcl_search pcl_surface pcl_segmentation pcl_features pcl_sample_consensus pcl_gpu_utils pcl_gpu_containers ${CUDA_CUDART_LIBRARY} ${CUDA_npp_LIBRARY})
 
 if(UNIX OR APPLE)
   target_compile_options(${LIB_NAME} INTERFACE $<$<COMPILE_LANGUAGE:CUDA>:"-Xcompiler=-fPIC">)