Adapted find_dependencies.cmake to build with CUDA >= 12.0 with dynamic libraries as well

3rdparty/find_dependencies.cmake

@@ -1772,16 +1772,30 @@ if(BUILD_CUDA_MODULE)
                 CUDA::culibos
             )
         else()
-            # In CUDA12.0 the liblapack_static.a is deprecated and removed.
+            # In CUDA 12.0 the liblapack_static.a is deprecated and removed.
             # Use the libcusolver_lapack_static.a instead.
-            target_link_libraries(3rdparty_cublas INTERFACE
-                CUDA::cusolver_static
-                ${CUDAToolkit_LIBRARY_DIR}/libcusolver_lapack_static.a
-                CUDA::cusparse_static
-                CUDA::cublas_static
-                CUDA::cublasLt_static
-                CUDA::culibos
-            )
+            # Use of static libraries is preferred.
+            if(BUILD_WITH_CUDA_STATIC)
+                # Use static CUDA libraries.
+                target_link_libraries(3rdparty_cublas INTERFACE
+                    CUDA::cusolver_static
+                    ${CUDAToolkit_LIBRARY_DIR}/libcusolver_lapack_static.a
+                    CUDA::cusparse_static
+                    CUDA::cublas_static
+                    CUDA::cublasLt_static
+                    CUDA::culibos
+                )
+            else()
+                # Use shared CUDA libraries.
+                target_link_libraries(3rdparty_cublas INTERFACE
+                    CUDA::cusolver
+                    ${CUDAToolkit_LIBRARY_DIR}/libcusolver.so
+                    CUDA::cusparse
+                    CUDA::cublas
+                    CUDA::cublasLt
+                    CUDA::culibos
+                )
+            endif()
         endif()
         if(NOT BUILD_SHARED_LIBS)
             # Listed in ${CMAKE_INSTALL_PREFIX}/lib/cmake/Open3D/Open3DTargets.cmake.
@@ -1808,16 +1822,34 @@ if (BUILD_CUDA_MODULE)
                     CUDA::nppial
         )
     else()
-        open3d_find_package_3rdparty_library(3rdparty_cuda_npp
-            REQUIRED
-            PACKAGE CUDAToolkit
-            TARGETS CUDA::nppc_static
-                    CUDA::nppicc_static
-                    CUDA::nppif_static
-                    CUDA::nppig_static
-                    CUDA::nppim_static
-                    CUDA::nppial_static
-        )
+        if(BUILD_WITH_CUDA_STATIC)
+            # Use static CUDA libraries.
+            open3d_find_package_3rdparty_library(3rdparty_cuda_npp
+                REQUIRED
+                PACKAGE CUDAToolkit
+                TARGETS CUDA::nppc_static
+                        CUDA::nppicc_static
+                        CUDA::nppif_static
+                        CUDA::nppig_static
+                        CUDA::nppim_static
+                        CUDA::nppial_static
+            )
+        else()
+            # Use shared CUDA libraries.
+            open3d_find_package_3rdparty_library(3rdparty_cuda_npp
+                REQUIRED
+                PACKAGE CUDAToolkit
+                TARGETS CUDA::nppc
+                        CUDA::nppicc
+                        CUDA::nppif
+                        CUDA::nppig
+                        CUDA::nppim
+                        CUDA::nppial
+            )
+        endif()
+    endif()
+    if(NOT 3rdparty_cuda_npp_FOUND)
+        message(FATAL_ERROR "CUDA NPP libraries not found.")
     endif()
     list(APPEND Open3D_3RDPARTY_PRIVATE_TARGETS_FROM_SYSTEM Open3D::3rdparty_cuda_npp)
 endif ()

CMakeLists.txt

@@ -47,6 +47,7 @@ option(BUILD_UNIT_TESTS           "Build Open3D unit tests"                  OFF
 option(BUILD_BENCHMARKS           "Build the micro benchmarks"               OFF)
 option(BUILD_PYTHON_MODULE        "Build the python module"                  ON )
 option(BUILD_CUDA_MODULE          "Build the CUDA module"                    OFF)
+option(BUILD_WITH_CUDA_STATIC     "Build with static CUDA libraries"         ON )
 option(BUILD_COMMON_CUDA_ARCHS    "Build for common CUDA GPUs (for release)" OFF)
 if (WIN32)   # Causes CUDA runtime error on Windows (See issue #6555)
     option(ENABLE_CACHED_CUDA_MANAGER "Enable cached CUDA memory manager"    OFF)