GPU kinfu textures no longer supported on CUDA 12.0

[ghfue]

Describe the bug

The GPU kinfu does not build with CUDA 12.0 because this version of CUDA dropped legacy texture references (specifically used in marching_cubes.cu).

Current Behavior

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(51): error: texture is not a template

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(52): error: texture is not a template

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(61): error: identifier "cudaBindTexture" is undefined

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(68): error: identifier "cudaUnbindTexture" is undefined

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(160): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(344): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(350): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(351): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(352): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

9 errors detected in the compilation of "pcl/gpu/kinfu/src/cuda/marching_cubes.cu".

To Reproduce

docker run -it --rm nvidia/cuda:12.0.0-devel-ubuntu22.04
apt update && apt install -y git cmake libeigen3-dev libflann-dev libgl1-mesa-dev libboost-filesystem-dev libboost-date-time-dev libboost-iostreams-dev
git clone https://github.com/PointCloudLibrary/pcl.git
mkdir pcl/build && cd pcl/build
cmake -DBUILD_CUDA=ON -DBUILD_GPU=ON ..
make -j$(nproc)

Your Environment (please complete the following information):

• OS: Ubuntu 22.04
• Compiler: gcc 11.3.0
• PCL Version: HEAD
• CUDA version: 12.0

Possible Solution

Replace texture references with texture objects.

[cybaol]

https://forums.developer.nvidia.com/t/undefined-tex1dfetch-in-kernel/170608/6

[Nilaos]

Is there a recommended workaround for this issue, beyond reverting to CUDA 11.7? I'm experiencing it as well.

• OS: Ubuntu 20.04
• Compiler: gcc 9.4.0
• PCL Version: 1.13
• CUDA version: 12.1

[mvieth]

@Nilaos If you don't need the kinfu module, simply excluding it from compilation should let the rest of PCL build successfully