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build(image_projection_based_fusion): remove downloading logic from Cmake #4904

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merged 1 commit into from
Sep 20, 2023
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build(image_projection_based_fusion): remove downloading logic from Cmake #4904

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47 changes: 1 addition & 46 deletions perception/image_projection_based_fusion/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -107,52 +107,8 @@ else()
set(CUDNN_AVAIL OFF)
endif()

# Create folder to store trained models.
# NOTE: This must be created regardless of CUDA_AVAIL to be specified in ament_auto_package()
set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data)
execute_process(COMMAND mkdir -p ${DATA_PATH})

if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
# Download trained models

message(STATUS "start to download")
function(download FILE_NAME FILE_HASH)
message(STATUS "Checking and downloading ${FILE_NAME}")
set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
set(STATUS_CODE 0)
message(STATUS "start ${FILE_NAME}")
if(EXISTS ${FILE_PATH})
message(STATUS "found ${FILE_NAME}")
file(MD5 ${FILE_PATH} EXISTING_FILE_HASH)
if("${FILE_HASH}" STREQUAL "${EXISTING_FILE_HASH}")
message(STATUS "same ${FILE_NAME}")
message(STATUS "File already exists.")
else()
message(STATUS "diff ${FILE_NAME}")
message(STATUS "File hash changes. Downloading now ...")
file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/${FILE_NAME}
${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
endif()
else()
message(STATUS "not found ${FILE_NAME}")
message(STATUS "File doesn't exists. Downloading now ...")
file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/pointpainting/v4/${FILE_NAME}
${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
endif()
if(${STATUS_CODE} EQUAL 0)
message(STATUS "Download completed successfully!")
else()
message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
endif()
endfunction()

# default model
download(pts_voxel_encoder_pointpainting.onnx 25c70f76a45a64944ccd19f604c99410)
download(pts_backbone_neck_head_pointpainting.onnx 2c7108245240fbd7bf0104dd68225868)

find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)

Expand Down Expand Up @@ -197,5 +153,4 @@ endif()
ament_auto_package(INSTALL_TO_SHARE
launch
config
data
)