commit d0b87157ab0e27e9e4cf2ea27967b5d619e81a76
Author: Markus Heß <hess@3dvisionlabs.com>
Date:   Sat Mar 2 13:28:02 2024 +0000

    Link static cuda libs when ceres is build static
    
    Change-Id: I8821a2df5302cf164b6f80d6787ae795691d6b32

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ea82bcd..9729ccc2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,7 +126,7 @@ if (APPLE)
 endif()
 # We can't have an option called 'CUDA' since that is a reserved word -- a
 # language definition.
-option(USE_CUDA "Enable use of CUDA linear algebra solvers." ON)
+set(USE_CUDA "default" CACHE STRING "Enable use of CUDA linear algebra solvers.")
 option(LAPACK "Enable use of LAPACK directly within Ceres." ON)
 # Template specializations for the Schur complement based solvers. If
 # compile time, binary size or compiler performance is an issue, you
@@ -204,6 +204,12 @@ if (Eigen3_FOUND)
   endif (EIGENSPARSE)
 endif (Eigen3_FOUND)
 
+if (CMAKE_VERSION VERSION_LESS 3.17)
+  set_property(CACHE USE_CUDA PROPERTY STRINGS OFF default)
+else (CMAKE_VERSION VERSION_LESS 3.17)
+  set_property(CACHE USE_CUDA PROPERTY STRINGS OFF default static)
+endif (CMAKE_VERSION VERSION_LESS 3.17)
+
 if (USE_CUDA)
   if (CMAKE_VERSION VERSION_LESS 3.17)
     # On older versions of CMake (20.04 default is 3.16) FindCUDAToolkit was
@@ -233,6 +239,7 @@ if (USE_CUDA)
       declare_imported_cuda_target(cusparse)
       declare_imported_cuda_target(cudart ${CUDA_LIBRARIES})
 
+      set(CERES_CUDA_TARGET_SUFFIX "")
       set(CUDAToolkit_BIN_DIR ${CUDA_TOOLKIT_ROOT_DIR}/bin)
 
     else (CUDA_FOUND)
@@ -252,22 +259,31 @@ if (USE_CUDA)
         set(CMAKE_CUDA_ARCHITECTURES "50;60;70;80")
         message("-- Setting CUDA Architecture to ${CMAKE_CUDA_ARCHITECTURES}")
       endif()
-      list(APPEND CERES_CUDA_LIBRARIES
-        CUDA::cublas
-        CUDA::cudart
-        CUDA::cusolver
-        CUDA::cusparse)
-      set(CMAKE_CUDA_RUNTIME_LIBRARY NONE)
+
+      if (USE_CUDA STREQUAL "static")
+        set(CERES_CUDA_TARGET_SUFFIX "_static")
+      else (USE_CUDA STREQUAL "static")
+        set(CERES_CUDA_TARGET_SUFFIX "")
+      endif (USE_CUDA STREQUAL "static")
     else (CUDAToolkit_FOUND)
       message("-- Did not find CUDA, disabling CUDA support.")
       update_cache_variable(USE_CUDA OFF)
     endif (CUDAToolkit_FOUND)
   endif (CMAKE_VERSION VERSION_LESS 3.17)
 endif (USE_CUDA)
-if (NOT USE_CUDA)
+
+if (USE_CUDA)
+  list(APPEND CERES_CUDA_LIBRARIES
+    CUDA::cublas${CERES_CUDA_TARGET_SUFFIX}
+    CUDA::cudart${CERES_CUDA_TARGET_SUFFIX}
+    CUDA::cusolver${CERES_CUDA_TARGET_SUFFIX}
+    CUDA::cusparse${CERES_CUDA_TARGET_SUFFIX})
+  unset (CERES_CUDA_TARGET_SUFFIX)
+  set(CMAKE_CUDA_RUNTIME_LIBRARY NONE)
+else (USE_CUDA)
   message("-- Building without CUDA.")
   list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUDA)
-endif (NOT USE_CUDA)
+endif (USE_CUDA)
 
 if (LAPACK)
   find_package(LAPACK QUIET)
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index eecef260..b7e31ee6 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -118,11 +118,7 @@ if (ACCELERATESPARSE AND AccelerateSparse_FOUND)
 endif()
 
 if (USE_CUDA)
-  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES
-    CUDA::cublas
-    CUDA::cudart
-    CUDA::cusolver
-    CUDA::cusparse)
+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CERES_CUDA_LIBRARIES})
   set_source_files_properties(cuda_kernels_vector_ops.cu.cc PROPERTIES LANGUAGE CUDA)
   set_source_files_properties(cuda_kernels_bsm_to_crs.cu.cc PROPERTIES LANGUAGE CUDA)
   add_library(ceres_cuda_kernels STATIC cuda_kernels_vector_ops.cu.cc cuda_kernels_bsm_to_crs.cu.cc)