From 53cb78c194ad9404a1550777e9be93ebb69f2e0b Mon Sep 17 00:00:00 2001
From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Date: Mon, 11 Jul 2022 19:45:06 +0900
Subject: [PATCH] fix(image_projection_based_fusion): fix build for
 environments without CUDA (#1306)

* fix(image_projection_based_fusion): fix build for environments without CUDA

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix(image_projection_based_fusion_build): create data folder regardless of CUDA_AVAIL

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
---
 .../CMakeLists.txt                            | 71 ++++++++++---------
 1 file changed, 39 insertions(+), 32 deletions(-)

diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt
index 7ae4a3bf8e80a..ad048abd41962 100644
--- a/perception/image_projection_based_fusion/CMakeLists.txt
+++ b/perception/image_projection_based_fusion/CMakeLists.txt
@@ -7,6 +7,31 @@ find_package(OpenCV REQUIRED)
 find_package(Eigen3 REQUIRED)
 autoware_package()
 
+# Build non-CUDA dependent nodes
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/fusion_node.cpp
+  src/debugger.cpp
+  src/utils/geometry.cpp
+  src/utils/utils.cpp
+  src/roi_cluster_fusion/node.cpp
+  src/roi_detected_object_fusion/node.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${OpenCV_LIBRARIES}
+  ${EIGEN3_LIBRARIES}
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "image_projection_based_fusion::RoiDetectedObjectFusionNode"
+  EXECUTABLE roi_detected_object_fusion_node
+)
+
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "image_projection_based_fusion::RoiClusterFusionNode"
+  EXECUTABLE roi_cluster_fusion_node
+)
+
 set(CUDA_VERBOSE OFF)
 
 # set flags for CUDA availability
@@ -69,12 +94,15 @@ else()
   set(CUDNN_AVAIL OFF)
 endif()
 
-message(STATUS "start to download")
+# 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
-  set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data)
-  execute_process(COMMAND mkdir -p ${DATA_PATH})
+  # 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})
@@ -122,13 +150,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     ${PCL_INCLUDE_DIRS}
   )
 
-  ament_auto_add_library(${PROJECT_NAME} SHARED
-    src/fusion_node.cpp
-    src/debugger.cpp
-    src/utils/geometry.cpp
-    src/utils/utils.cpp
-    src/roi_cluster_fusion/node.cpp
-    src/roi_detected_object_fusion/node.cpp
+  ament_auto_add_library(pointpainting_lib SHARED
     src/pointpainting_fusion/node.cpp
     src/pointpainting_fusion/pointpainting_trt.cpp
     src/pointpainting_fusion/voxel_generator.cpp
@@ -138,7 +160,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     src/pointpainting_fusion/preprocess_kernel.cu
   )
 
-  target_link_libraries(${PROJECT_NAME}
+  target_link_libraries(pointpainting_lib
     ${OpenCV_LIBRARIES}
     ${EIGEN3_LIBRARIES}
     ${PCL_LIBRARIES}
@@ -150,30 +172,15 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
     pointpainting_cuda_lib
   )
 
-  rclcpp_components_register_node(${PROJECT_NAME}
-    PLUGIN "image_projection_based_fusion::RoiClusterFusionNode"
-    EXECUTABLE roi_cluster_fusion_node
+  rclcpp_components_register_node(pointpainting_lib
+    PLUGIN "image_projection_based_fusion::PointpaintingFusionNode"
+    EXECUTABLE pointpainting_fusion_node
   )
-else()
-  find_package(ament_cmake_auto REQUIRED)
-  ament_auto_find_build_dependencies()
 
-  ament_auto_package(
-    INSTALL_TO_SHARE
-      launch
-  )
+else()
+  message("Skipping build of some nodes due to missing dependencies")
 endif()
 
-rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::RoiDetectedObjectFusionNode"
-  EXECUTABLE roi_detected_object_fusion_node
-)
-
-rclcpp_components_register_node(${PROJECT_NAME}
-  PLUGIN "image_projection_based_fusion::PointpaintingFusionNode"
-  EXECUTABLE pointpainting_fusion_node
-)
-
 ament_auto_package(INSTALL_TO_SHARE
     launch
     config