From 374cfae45f65bc7a6198fb28c4bab75efbaa2ec3 Mon Sep 17 00:00:00 2001
From: xuhao3e8 <xuhao3e8@gmail.com>
Date: Tue, 10 Dec 2024 18:51:59 +0800
Subject: [PATCH] Build on later cuda version and correct path of models

---
 d2frontend/CMakeLists.txt    | 1 +
 d2vins/launch/quadcam.launch | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/d2frontend/CMakeLists.txt b/d2frontend/CMakeLists.txt
index a454170..40cea71 100644
--- 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
index 1d50a96..a3a59f0 100644
--- 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" />