Build on later cuda version and correct path of models

HKUST-Aerial-Robotics · Dec 10, 2024 · 374cfae · 374cfae
1 parent ece2a40
commit 374cfae
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/d2frontend/CMakeLists.txt b/d2frontend/CMakeLists.txt
@@ -134,6 +134,7 @@ target_link_libraries(loop_cnn
   nvinfer_plugin
   nvonnxparser
   tensorrt_utils
+  cudart
 )
 
 target_include_directories(loop_cnn PUBLIC

diff --git a/d2vins/launch/quadcam.launch b/d2vins/launch/quadcam.launch
@@ -4,8 +4,8 @@
     <arg name="send_img"     default="false"/>
     <arg name="send_whole_img_desc"     default="false"/>
     <arg name="self_id"     default="1"/>
-    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_v1_dyn_size.onnx"/>
-    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/mobilenetvlad_dyn_size.onnx" />
+    <arg name="superpoint_model_path"     default="$(find d2frontend)/../models/superpoint_series/superpoint_v1_dyn_size.onnx"/>
+    <arg name="netvlad_model_path"     default="$(find d2frontend)/../models/netvlad_series/mobilenetvlad_dyn_size.onnx" />
     <arg name="superglue_model_path"     default="$(find d2frontend)/../models/superglue.onnx" />
     <arg name="config" default="$(find d2vins)/../config/quadcam/quadcam_single.yaml" />
     <arg name="config_depth" default="$(find d2vins)/../config/quadcam/quadcam_single.yaml" />