Merge pull request #3400 from cudawarped:add_cuda_first_class_support

`cuda`: CMake add CUDA first class language support

modules/cudaarithm/CMakeLists.txt

@@ -6,22 +6,35 @@ set(the_description "CUDA-accelerated Operations on Matrices")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
 
-ocv_add_module(cudaarithm opencv_core OPTIONAL opencv_cudev WRAP python)
+set(extra_dependencies "")
+set(optional_dependencies "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  list(APPEND extra_dependencies CUDA::cudart_static CUDA::nppial${CUDA_LIB_EXT} CUDA::nppc${CUDA_LIB_EXT} CUDA::nppitc${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
+  if(HAVE_CUBLAS)
+    list(APPEND optional_dependencies CUDA::cublas${CUDA_LIB_EXT})
+    if(NOT CUDA_VERSION VERSION_LESS 10.1)
+      list(APPEND optional_dependencies CUDA::cublasLt${CUDA_LIB_EXT})
+    endif()
+  endif()
+  if(HAVE_CUFFT)
+    # static version requires seperable compilation which is incompatible with opencv's current library structure
+    list(APPEND optional_dependencies CUDA::cufft)
+  endif()
+else()
+  if(HAVE_CUBLAS)
+    list(APPEND optional_dependencies ${CUDA_cublas_LIBRARY})
+  endif()
+  if(HAVE_CUFFT)
+    list(APPEND optional_dependencies ${CUDA_cufft_LIBRARY})
+  endif()
+endif()
+
+ocv_add_module(cudaarithm opencv_core ${extra_dependencies} OPTIONAL opencv_cudev ${optional_dependencies} WRAP python)
 
 ocv_module_include_directories()
 ocv_glob_module_sources()
 
-set(extra_libs "")
-
-if(HAVE_CUBLAS)
-  list(APPEND extra_libs ${CUDA_cublas_LIBRARY})
-endif()
-
-if(HAVE_CUFFT)
-  list(APPEND extra_libs ${CUDA_cufft_LIBRARY})
-endif()
-
-ocv_create_module(${extra_libs})
+ocv_create_module()
 
 ocv_add_accuracy_tests(DEPENDS_ON opencv_imgproc)
 ocv_add_perf_tests(DEPENDS_ON opencv_imgproc)

modules/cudabgsegm/CMakeLists.txt

@@ -5,5 +5,7 @@ endif()
 set(the_description "CUDA-accelerated Background Segmentation")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+endif()
 ocv_define_module(cudabgsegm opencv_video WRAP python)

modules/cudacodec/CMakeLists.txt

@@ -4,7 +4,11 @@ endif()
 
 set(the_description "CUDA-accelerated Video Encoding/Decoding")
 
-ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wshadow)
+if(WIN32)
+  ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512)
+else()
+  ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wshadow -Wsign-compare -Wenum-compare)
+endif()
 
 set(required_dependencies opencv_core opencv_videoio opencv_cudaarithm opencv_cudawarping)
 if(HAVE_NVCUVENC)
@@ -18,10 +22,25 @@ ocv_glob_module_sources()
 
 set(extra_libs "")
 
+if(WITH_NVCUVID AND NOT HAVE_NVCUVID)
+  message(WARNING "cudacodec::VideoReader requires Nvidia Video Codec SDK. Please resolve dependency or disable WITH_NVCUVID=OFF")
+endif()
+
+if(WITH_NVCUVENC AND NOT HAVE_NVCUVENC)
+  message(WARNING "cudacodec::VideoWriter requires Nvidia Video Codec SDK. Please resolve dependency or disable WITH_NVCUVENC=OFF")
+endif()
+
 if(HAVE_NVCUVID OR HAVE_NVCUVENC)
-  list(APPEND extra_libs ${CUDA_CUDA_LIBRARY})
+  if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+      list(APPEND extra_libs CUDA::cuda_driver)
+  else()
+    list(APPEND extra_libs ${CUDA_CUDA_LIBRARY})
+  endif()
   if(HAVE_NVCUVID)
     list(APPEND extra_libs ${CUDA_nvcuvid_LIBRARY})
+    if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+      list(APPEND extra_libs CUDA::nppicc${CUDA_LIB_EXT})
+    endif()
   endif()
   if(HAVE_NVCUVENC)
       if(WIN32)

modules/cudafeatures2d/CMakeLists.txt

@@ -5,5 +5,7 @@ endif()
 set(the_description "CUDA-accelerated Feature Detection and Description")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter -Wshadow)
-
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+endif()
 ocv_define_module(cudafeatures2d opencv_features2d opencv_cudafilters opencv_cudawarping WRAP python)

modules/cudafilters/CMakeLists.txt

@@ -5,5 +5,8 @@ endif()
 set(the_description "CUDA-accelerated Image Filtering")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-
-ocv_define_module(cudafilters opencv_imgproc opencv_cudaarithm WRAP python)
+set(extra_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  set(extra_libs CUDA::nppif${CUDA_LIB_EXT} CUDA::nppim${CUDA_LIB_EXT})
+endif()
+ocv_define_module(cudafilters opencv_imgproc opencv_cudaarithm ${extra_libs} WRAP python)

modules/cudaimgproc/CMakeLists.txt

@@ -5,5 +5,8 @@ endif()
 set(the_description "CUDA-accelerated Image Processing")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter)
-
-ocv_define_module(cudaimgproc opencv_imgproc OPTIONAL opencv_cudev opencv_cudaarithm opencv_cudafilters WRAP python)
+set(extra_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  set(extra_libs CUDA::nppial${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppicc${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
+endif()
+ocv_define_module(cudaimgproc opencv_imgproc ${extra_libs} OPTIONAL opencv_cudev opencv_cudaarithm opencv_cudafilters WRAP python)

modules/cudalegacy/CMakeLists.txt

@@ -5,6 +5,8 @@ endif()
 set(the_description "CUDA-accelerated Computer Vision (legacy)")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized -Wshadow -Wdeprecated-declarations -Wstrict-aliasing -Wtautological-compare)
-
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+endif()
 ocv_define_module(cudalegacy opencv_core opencv_video
   OPTIONAL opencv_objdetect opencv_imgproc opencv_calib3d opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)

modules/cudastereo/CMakeLists.txt

@@ -5,5 +5,7 @@ endif()
 set(the_description "CUDA-accelerated Stereo Correspondence")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+endif()
 ocv_define_module(cudastereo opencv_calib3d OPTIONAL opencv_cudev WRAP python)

modules/cudawarping/CMakeLists.txt

@@ -5,5 +5,8 @@ endif()
 set(the_description "CUDA-accelerated Image Warping")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-
-ocv_define_module(cudawarping opencv_core opencv_imgproc OPTIONAL opencv_cudev WRAP python)
+set(extra_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  set(extra_libs CUDA::nppial${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT})
+endif()
+ocv_define_module(cudawarping opencv_core opencv_imgproc ${extra_libs} OPTIONAL opencv_cudev WRAP python)

modules/cudev/test/CMakeLists.txt

@@ -15,17 +15,23 @@ if(OCV_DEPENDENCIES_FOUND)
 
   ocv_cuda_filter_options()
 
-  if(CUDA_VERSION VERSION_LESS "11.0")
-    ocv_update(OPENCV_CUDA_OPTIONS_opencv_test_cudev "-std=c++11")
+  set(target_libs ${test_deps} ${OPENCV_LINKER_LIBS})
+  if(NOT ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+    ocv_check_windows_crt_linkage()
+    set(target_libs ${target_libs} ${CUDA_LIBRARIES})
+    if(CUDA_VERSION VERSION_LESS "11.0")
+      ocv_update(OPENCV_CUDA_OPTIONS_opencv_test_cudev "-std=c++11")
+    else()
+      ocv_update(OPENCV_CUDA_OPTIONS_opencv_test_cudev "-std=c++14")
+      ocv_warnings_disable(CMAKE_CXX_FLAGS -Wdeprecated-declarations)
+    endif()
+    CUDA_ADD_EXECUTABLE(${the_target} ${OPENCV_TEST_${the_module}_SOURCES} OPTIONS ${OPENCV_CUDA_OPTIONS_opencv_test_cudev})
   else()
-    ocv_update(OPENCV_CUDA_OPTIONS_opencv_test_cudev "-std=c++14")
-    ocv_warnings_disable(CMAKE_CXX_FLAGS -Wdeprecated-declarations)
+    ocv_add_executable(${the_target} ${OPENCV_TEST_${the_module}_SOURCES})
   endif()
 
-  CUDA_ADD_EXECUTABLE(${the_target} ${OPENCV_TEST_${the_module}_SOURCES} OPTIONS ${OPENCV_CUDA_OPTIONS_opencv_test_cudev})
-  ocv_target_link_libraries(${the_target} PRIVATE
-      ${test_deps} ${OPENCV_LINKER_LIBS} ${CUDA_LIBRARIES}
-  )
+  ocv_target_link_libraries(${the_target} PRIVATE ${target_libs})
+
   add_dependencies(opencv_tests ${the_target})
 
   set_target_properties(${the_target} PROPERTIES LABELS "${OPENCV_MODULE_${the_module}_LABEL}")

modules/hfs/CMakeLists.txt

@@ -1,7 +1,10 @@
 if(HAVE_CUDA)
   add_definitions(-D_HFS_CUDA_ON_)
   ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
+  if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+    ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+  endif()
 endif()
 
 set(the_description "Hierarchical Feature Selection for Efficient Image Segmentation")
-ocv_define_module(hfs opencv_core opencv_imgproc WRAP python)
+ocv_define_module(hfs opencv_core opencv_imgproc OPTIONAL WRAP python)