How to build project linking to Open3D with CUDA support

[GCChen97]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

I built Open3D with CUDA support and tried to use Open3D in a ROS package but failed.

CMake Error at /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package):
  By not providing "FindCUDAToolkit.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "CUDAToolkit", but CMake did not find one.

  Could not find a package configuration file provided by "CUDAToolkit" with
  any of the following names:

    CUDAToolkitConfig.cmake
    cudatoolkit-config.cmake

  Add the installation prefix of "CUDAToolkit" to CMAKE_PREFIX_PATH or set
  "CUDAToolkit_DIR" to a directory containing one of the above files.  If
  "CUDAToolkit" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  /media/user/libopen3d/lib/cmake/Open3D/Open3DConfig.cmake:25 (find_dependency)
  pmdr/CMakeLists.txt:57 (find_package)
```bash

I tried to add the following variables:

set(CUDA_TOOLKIT_ROOT_DIR /usr/local/cuda-11.6) set(CMAKE_CUDA_COMPILER /usr/local/cuda-10.2/bin/nvcc) list(APPEND CMAKE_MODULE_PATH /media/gcc/Data/Downloads/ubuntu/_LIBs/Open3D/build/stdgpu/src/ext_stdgpu/cmake/cuda) set(STDGPU_CUDART_INCLUDE_DIR /usr/local/cuda-11.6/include) set(STDGPU_CUDART_LIBRARY /usr/local/cuda-11.6/lib64) set(STDGPU_CUDART_LIBRARY /usr/local/cuda-11.6/targets/x86_64-linux/lib)

But finally failed at

/usr/bin/ld: cannot find -lCUDA::cusolver_static /usr/bin/ld: cannot find -lCUDA::cusparse_static /usr/bin/ld: cannot find -lCUDA::cublas_static /usr/bin/ld: cannot find -lCUDA::cublasLt_static /usr/bin/ld: cannot find -lCUDA::culibos /usr/bin/ld: cannot find -lCUDA::nppc_static /usr/bin/ld: cannot find -lCUDA::nppicc_static /usr/bin/ld: cannot find -lCUDA::nppif_static /usr/bin/ld: cannot find -lCUDA::nppig_static /usr/bin/ld: cannot find -lCUDA::nppim_static /usr/bin/ld: cannot find -lCUDA::nppial_static collect2: error: ld returned 1 exit status make[2]: *** [pmdr/CMakeFiles/pmdr.dir/build.make:1915: pmdr/pmdr] Error 1 make[1]: *** [CMakeFiles/Makefile2:752: pmdr/CMakeFiles/pmdr.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

What is the correct way to use Open3D with CUDA support? I would really appreciate any solution since I've struggled to use Open3D in my project for few days.