Updates to CXX flags and removal of cmake checks less than 3.16. (#6144)

* Move check for cuda up to be able to use CUDA_VERSION_STRING. Disable Global optimization if CUDA is version 10 or 11 as they seems to be failing with their thrust version Update how CMAKE_CXX_FLAGS_DEFAULT is set as windows default values has changed. * Remove checks for cmake less than 3.16 as that is minimum required. * Fixed typo.
PointCloudLibrary · Oct 19, 2024 · f8bb3ef · f8bb3ef
1 parent 9e48412
commit f8bb3ef
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Showing 4 changed files with 52 additions and 78 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -72,7 +72,8 @@ ENDIF()
 # Create a variable with expected default CXX flags
 # This will be used further down the road to check if the user explicitly provided CXX flags
 if(CMAKE_COMPILER_IS_MSVC)
-  set(CMAKE_CXX_FLAGS_DEFAULT "/DWIN32 /D_WINDOWS /W3 /GR /EHsc")
+  set(CMAKE_CXX_FLAGS_DEFAULT ${CMAKE_CXX_FLAGS_INIT})
+  string(STRIP ${CMAKE_CXX_FLAGS_DEFAULT} CMAKE_CXX_FLAGS_DEFAULT)
 else()
   set(CMAKE_CXX_FLAGS_DEFAULT "")
 endif()
@@ -105,6 +106,13 @@ if(PCL_ENABLE_AVX AND "${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}"
   PCL_CHECK_FOR_AVX()
 endif()
 
+# Cuda
+option(WITH_CUDA "Build NVIDIA-CUDA support" TRUE)
+if(WITH_CUDA)
+  include("${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake")
+endif()
+
+
 # ---[ Unix/Darwin/Windows specific flags
 if(CMAKE_COMPILER_IS_GNUCXX)
   if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
@@ -139,19 +147,25 @@ endif()
 
 if(CMAKE_COMPILER_IS_MSVC)
   add_definitions("-DBOOST_ALL_NO_LIB -D_SCL_SECURE_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX ${SSE_DEFINITIONS}")
-  
+
   if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
+
     string(APPEND CMAKE_CXX_FLAGS " /fp:precise ${SSE_FLAGS} ${AVX_FLAGS}")
+    set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Xcompiler=/bigobj")
+
+    set(PCL_USE_GLOBAL_OPTIMIZATION TRUE)
+    if(CUDA_FOUND)
+      if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "10.0" AND ${CUDA_VERSION_STRING} VERSION_LESS "12.0")
+        set(PCL_USE_GLOBAL_OPTIMIZATION FALSE)
+        message("Global optimizations /GL has been turned off, as it doesn't work with nvcc/thrust in CUDA 10 and 11.")
+      endif()
+    endif()
 
     # Add extra code generation/link optimizations
-    if(CMAKE_MSVC_CODE_LINK_OPTIMIZATION AND (NOT BUILD_CUDA) AND (NOT BUILD_GPU))
+    if(CMAKE_MSVC_CODE_LINK_OPTIMIZATION AND PCL_USE_GLOBAL_OPTIMIZATION)
       string(APPEND CMAKE_CXX_FLAGS_RELEASE " /GL")
       string(APPEND CMAKE_SHARED_LINKER_FLAGS_RELEASE " /LTCG /OPT:REF")
       string(APPEND CMAKE_EXE_LINKER_FLAGS_RELEASE " /LTCG")
-    else()
-      set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -Xcompiler=/bigobj")
-
-      message("Global optimizations /GL has been turned off, as it doesn't work with nvcc/thrust")
     endif()
     # /MANIFEST:NO") # please, don't disable manifest generation, otherwise crash at start for vs2008
 
@@ -176,24 +190,13 @@ if(CMAKE_COMPILER_IS_MSVC)
     include(ProcessorCount)
     ProcessorCount(CPUCores)
     set(MSVC_MP ${CPUCores} CACHE STRING "Number of simultaneously running compilers (0 = automatic detection by MSVC). See documentation of /MP flag.")
-    if (CMAKE_VERSION VERSION_LESS 3.11.0)
-      # Usage of COMPILE_LANGUAGE generator expression for MSVC in add_compile_options requires at least CMake 3.11, see https://gitlab.kitware.com/cmake/cmake/issues/17435
-      if(MSVC_MP EQUAL 0)
-        # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback
-        string(APPEND CMAKE_C_FLAGS " /MP")
-        string(APPEND CMAKE_CXX_FLAGS " /MP")
-      elseif(MSVC_MP GREATER 1)
-        string(APPEND CMAKE_C_FLAGS " /MP${MSVC_MP}")
-        string(APPEND CMAKE_CXX_FLAGS " /MP${MSVC_MP}")
-      endif()      
-    else()      
-      if(MSVC_MP EQUAL 0)
-        # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback
-        # Generator expression is necessary to limit /MP flag to C/CXX, so flag will be not set to e.g. CUDA (see https://gitlab.kitware.com/cmake/cmake/issues/17535)
-        add_compile_options($<$<OR:$<COMPILE_LANGUAGE:C>,$<COMPILE_LANGUAGE:CXX>>:/MP>)
-      elseif(MSVC_MP GREATER 1)
-        add_compile_options($<$<OR:$<COMPILE_LANGUAGE:C>,$<COMPILE_LANGUAGE:CXX>>:/MP${MSVC_MP}>)
-      endif()
+
+    if(MSVC_MP EQUAL 0)
+      # MSVC_MP is 0 in case the information cannot be determined by ProcessorCount => fallback
+      # Generator expression is necessary to limit /MP flag to C/CXX, so flag will be not set to e.g. CUDA (see https://gitlab.kitware.com/cmake/cmake/issues/17535)
+      add_compile_options($<$<OR:$<COMPILE_LANGUAGE:C>,$<COMPILE_LANGUAGE:CXX>>:/MP>)
+    elseif(MSVC_MP GREATER 1)
+      add_compile_options($<$<OR:$<COMPILE_LANGUAGE:C>,$<COMPILE_LANGUAGE:CXX>>:/MP${MSVC_MP}>)
     endif()
   endif()
   string(APPEND CMAKE_CXX_FLAGS " /bigobj")
@@ -357,12 +360,6 @@ if(WITH_QHULL)
   endif()
 endif()
 
-# Cuda
-option(WITH_CUDA "Build NVIDIA-CUDA support" TRUE)
-if(WITH_CUDA)
-  include("${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake")
-endif()
-
 # find GLEW before VTK as it uses custom findGLEW that doesn't work with cmakes findGLEW.
 option(WITH_GLEW "Support for GLEW" TRUE)
 if(WITH_GLEW)

diff --git a/cmake/Modules/FindSphinx.cmake b/cmake/Modules/FindSphinx.cmake
@@ -8,16 +8,9 @@
 find_package(PkgConfig QUIET)
 pkg_check_modules(PC_SPHINX sphinx-build)
 
-if(CMAKE_VERSION VERSION_LESS 3.12.0)
-  find_package(PythonInterp)
-  if(PYTHONINTERP_FOUND)
-    get_filename_component(PYTHON_DIR "${PYTHON_EXECUTABLE}" PATH)
-  endif()
-else()
-  find_package(Python)
-  if(Python_Interpreter_FOUND)
-    get_filename_component(PYTHON_DIR "${Python_EXECUTABLE}" PATH)
-  endif()
+find_package(Python)
+if(Python_Interpreter_FOUND)
+  get_filename_component(PYTHON_DIR "${Python_EXECUTABLE}" PATH)
 endif()
 
 find_program(SPHINX_EXECUTABLE NAMES sphinx-build

diff --git a/cmake/pcl_find_cuda.cmake b/cmake/pcl_find_cuda.cmake
@@ -4,28 +4,23 @@ if(MSVC)
   set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF CACHE BOOL "CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE")
 endif()
 
-if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.11)
-  include(CheckLanguage)
-  check_language(CUDA)
-  if(CMAKE_CUDA_COMPILER)
-    enable_language(CUDA)
+include(CheckLanguage)
+check_language(CUDA)
+if(CMAKE_CUDA_COMPILER)
+  enable_language(CUDA)
 
-    if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17)
-      find_package(CUDAToolkit QUIET)
-      set(CUDA_TOOLKIT_INCLUDE ${CUDAToolkit_INCLUDE_DIRS})
-    else()
-      set(CUDA_FIND_QUIETLY TRUE)
-      find_package(CUDA 9.0)
-    endif()
-
-    set(CUDA_FOUND TRUE)
-    set(CUDA_VERSION_STRING ${CMAKE_CUDA_COMPILER_VERSION})
+  if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.17)
+    find_package(CUDAToolkit QUIET)
+    set(CUDA_TOOLKIT_INCLUDE ${CUDAToolkit_INCLUDE_DIRS})
   else()
-    message(STATUS "No CUDA compiler found")
+    set(CUDA_FIND_QUIETLY TRUE)
+    find_package(CUDA 9.0)
   endif()
+
+  set(CUDA_FOUND TRUE)
+  set(CUDA_VERSION_STRING ${CMAKE_CUDA_COMPILER_VERSION})
 else()
-  set(CUDA_FIND_QUIETLY TRUE)
-  find_package(CUDA 9.0)
+  message(STATUS "No CUDA compiler found")
 endif()
 
 if(CUDA_FOUND)

diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
@@ -421,16 +421,10 @@ macro(PCL_ADD_TEST _name _exename)
 
   #Only applies to MSVC
   if(MSVC)
-    #Requires CMAKE version 3.13.0
-    if(CMAKE_VERSION VERSION_LESS "3.13.0" AND (NOT ArgumentWarningShown))
-      message(WARNING "Arguments for unit test projects are not added - this requires at least CMake 3.13. Can be added manually in \"Project settings -> Debugging -> Command arguments\"")
-      SET (ArgumentWarningShown TRUE PARENT_SCOPE)
-    else()
-      #Only add if there are arguments to test
-      if(ARGS_ARGUMENTS)
-        string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}")
-        set_target_properties(${_exename} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR})
-      endif()
+    #Only add if there are arguments to test
+    if(ARGS_ARGUMENTS)
+      string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}")
+      set_target_properties(${_exename} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR})
     endif()
   endif()
 
@@ -471,15 +465,10 @@ function(PCL_ADD_BENCHMARK _name)
   if(MSVC)
     #Requires CMAKE version 3.13.0
     get_target_property(BenchmarkArgumentWarningShown run_benchmarks PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN)
-    if(CMAKE_VERSION VERSION_LESS "3.13.0" AND (NOT BenchmarkArgumentWarningShown))
-      message(WARNING "Arguments for benchmark projects are not added - this requires at least CMake 3.13. Can be added manually in \"Project settings -> Debugging -> Command arguments\"")
-      set_target_properties(run_benchmarks PROPERTIES PCL_BENCHMARK_ARGUMENTS_WARNING_SHOWN TRUE)
-    else()
-      #Only add if there are arguments to test
-      if(ARGS_ARGUMENTS)
-        string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}")
-        set_target_properties(benchmark_${_name} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR})
-      endif()
+    #Only add if there are arguments to test
+    if(ARGS_ARGUMENTS)
+      string (REPLACE ";" " " ARGS_ARGUMENTS_STR "${ARGS_ARGUMENTS}")
+      set_target_properties(benchmark_${_name} PROPERTIES VS_DEBUGGER_COMMAND_ARGUMENTS ${ARGS_ARGUMENTS_STR})
     endif()
   endif()