GPU并行优化

libs/MVS/CMakeLists.txt

@@ -12,6 +12,37 @@ if(VCG_FOUND)
 	add_definitions(${VCG_DEFINITIONS})
 endif()
 
+# 在find_package(CUDA)之前设置全局PIC
+SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+find_package(CUDA REQUIRED)
+
+SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} 
+    -Xcompiler=-fPIC 
+    --relocatable-device-code=true
+    --ptxas-options=-v
+    -gencode arch=compute_75,code=sm_75
+")
+
+# 启用CUDA语言支持（现代CMake方式）
+IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.18)
+    ENABLE_LANGUAGE(CUDA)
+ENDIF()
+
+cuda_add_library(MeshTextureCUDA 
+    cuda/MeshTextureCUDA.cu
+)
+
+SET_TARGET_PROPERTIES(MeshTextureCUDA PROPERTIES
+    CUDA_SEPARABLE_COMPILATION ON
+    CUDA_RESOLVE_DEVICE_SYMBOLS ON  # 关键：解析设备符号
+    POSITION_INDEPENDENT_CODE ON
+)
+# 为CUDA目标显式添加编译标志
+TARGET_COMPILE_OPTIONS(MeshTextureCUDA PRIVATE
+    $<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=-fPIC>
+)
+
 set(CERES_LIBS "")
 if(OpenMVS_USE_CERES)
 	FIND_PACKAGE(Ceres)
@@ -44,11 +75,19 @@ IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
 	TARGET_PRECOMPILE_HEADERS(MVS PRIVATE "Common.h")
 endif()
 
+TARGET_LINK_LIBRARIES(MeshTextureCUDA
+    ${CUDA_LIBRARIES}
+    ${OpenCV_LIBRARIES}
+	cudart_static
+)
+
 # Link its dependencies
 if(_USE_CUDA)
 	SET_TARGET_PROPERTIES(MVS PROPERTIES CUDA_ARCHITECTURES "50;72;75")
 endif()
-TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY})
+TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO CGAL::CGAL ${CERES_LIBRARIES} ${CUDA_CUDA_LIBRARY}
+    MeshTextureCUDA
+    ${CUDA_LIBRARIES})
 
 if(OpenMVS_USE_PYTHON)
 	# Create the Python wrapper