From 0c44beacfdd03893dd615f870bb4323f98659309 Mon Sep 17 00:00:00 2001
From: Joe Schornak <joe.schornak@gmail.com>
Date: Fri, 1 Nov 2019 18:09:17 -0500
Subject: [PATCH] Revert back to CMake FindCUDA module

---
 yak/CMakeLists.txt | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/yak/CMakeLists.txt b/yak/CMakeLists.txt
index 92ed1b3..7dbc3e3 100644
--- a/yak/CMakeLists.txt
+++ b/yak/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.0)
-project(yak VERSION 0.2.0 LANGUAGES CUDA CXX)
+project(yak VERSION 0.2.0 LANGUAGES CXX)
 
 if(NOT DEFINED CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -54,8 +54,12 @@ macro(target_add_options_and_definitions TARGET)
   endforeach()
 endmacro()
 
+CUDA_SELECT_NVCC_ARCH_FLAGS(ARCH_FLAGS Auto)
+LIST(APPEND CUDA_NVCC_FLAGS ${ARCH_FLAGS})
+list(APPEND CUDA_NVCC_FLAGS "--compiler-options -fPIC")
+
 # Core CUDA Library for depth image processing
-add_library(${PROJECT_NAME} SHARED
+cuda_add_library(${PROJECT_NAME}
   src/kfusion/core.cpp
   src/kfusion/device_memory.cpp
   src/kfusion/imgproc.cpp
@@ -72,10 +76,11 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${OpenCV_INCLUDE_DIRS}
   ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
-target_link_libraries(${PROJECT_NAME} PUBLIC
+target_link_libraries(${PROJECT_NAME}
   ${OpenCV_LIBRARIES}
   ${CUDA_LIBRARIES}
   ${CUDA_CUDA_LIBRARY}
+  ${PCL_LIBRARIES}  # BUG: shouldn't need this, but get -fPIC errors if it's not included
   Eigen3::Eigen)
 list(APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})