CMake fails with generator Ninja Multi-Config when including WITH_CUDA

##### System information (version)

- OpenCV => 4.5.5

- Operating System / Platform => Windows 10 64 Bit,  Ubuntu 20.04 LTS

- Compiler => Visual Studio 2019, gcc version 9.3.0



##### Detailed description



On windows and linux passing the generator Ninja Multi-Config works until WITH_CUDA is selected, then CMake configuration fails with lots of errors similar to



```

 CMake Error at cmake/OpenCVUtils.cmake:1547 (add_library):

   Legacy variable expansion in source file

   "D:/build/opencv/modules/superres/CMakeFiles/cuda_compile_1.dir/src/cuda/${CONFIGURATION}/cuda_compile_1_generated_btv_l1_gpu.cu.obj"

   expanded to

   "D:/build/opencv/modules/superres/CMakeFiles/cuda_compile_1.dir/src/cuda//cuda_compile_1_generated_btv_l1_gpu.cu.obj"

   in target "opencv_superres".  This behavior will be removed in a future

   version of CMake.

 Call Stack (most recent call first):

   cmake/OpenCVModule.cmake:966 (ocv_add_library)

   cmake/OpenCVModule.cmake:882 (_ocv_create_module)

   cmake/OpenCVModule.cmake:1108 (ocv_create_module)

   D:/repos/opencv/contrib/modules/superres/CMakeLists.txt:9 (ocv_define_module)

```



##### Steps to reproduce



```

"C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Auxiliary\Build\vcvars64.bat"

"C:\Program Files\CMake\bin\cmake.exe" . -G"Ninja Multi-Config" -DOPENCV_EXTRA_MODULES_PATH="../contrib/modules" -B"D:/build/opencv" -DWITH_CUDA=ON 

```



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