Fix conditional cuda

Author: MatthijsBurgh

CMakeLists.txt

@@ -22,7 +22,7 @@ if(${PROJECT_NAME}_CUDA_ENABLED)
   find_package(CUDAToolkit REQUIRED)
   set(${PROJECT_NAME}_CUDA_CATKIN_DEPENDS "CUDAToolkit")
   set(${PROJECT_NAME}_CUDA_INCLUDE_DIRS "${CUDAToolkit_INCLUDE_DIRS}")
-  set(${PROJECT_NAME}_CUDA_TARGET_LINK_LIBRARIES "CUDAToolkit")
+  set(${PROJECT_NAME}_CUDA_TARGET_LINK_LIBRARIES "CUDA::cudart")
 endif()
 
 configure_file(include/${PROJECT_NAME}/config.hpp.in ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}/config.hpp)

include/yolo_onnx_ros/config.hpp.in

@@ -1,7 +1,8 @@
 #ifndef YOLO_ONNX_ROS_CONFIG_HPP_
 #define YOLO_ONNX_ROS_CONFIG_HPP_
 
-//Set which version of the Tree Interface to use
-#define YOLO_ONNX_ROS_CUDA_ENABLED @onnx_yolo_ros_CUDA_ENABLED@
+#define YOLO_ONNX_FALSE 0
+#define YOLO_ONNX_TRUE 1
+#define YOLO_ONNX_ROS_CUDA_ENABLED YOLO_ONNX_@yolo_onnx_ros_CUDA_ENABLED@
 
 #endif //#define YOLO_ONNX_ROS_CONFIG_HPP_

include/yolo_onnx_ros/yolo_inference.hpp

@@ -10,7 +10,7 @@
 
 #include <yolo_onnx_ros/config.hpp>
 
-#ifdef YOLO_ONNX_ROS_CUDA_ENABLED
+#if defined(YOLO_ONNX_ROS_CUDA_ENABLED) && YOLO_ONNX_ROS_CUDA_ENABLED
 #include <cuda_fp16.h>
 #endif
 

src/detection.cpp

@@ -148,7 +148,7 @@ std::tuple<std::unique_ptr<YOLO_V8>, DL_INIT_PARAM> Initialize()
         // Mayve change the model from V11 to V8
         params.modelPath = "yolo11m.onnx";
         params.imgSize = { 640, 640 };
-    #ifdef YOLO_ONNX_ROS_CUDA_ENABLED
+    #if defined(YOLO_ONNX_ROS_CUDA_ENABLED) && YOLO_ONNX_ROS_CUDA_ENABLED
         params.cudaEnable = true;
 
         // GPU FP32 inference

src/yolo_inference.cpp

@@ -4,7 +4,7 @@
 #define benchmark
 #define min(a, b) (((a) < (b)) ? (a) : (b))
 
-#ifdef ONNX_YOLO_ROS_CUDA_ENABLED
+#if defined(YOLO_ONNX_ROS_CUDA_ENABLED) && YOLO_ONNX_ROS_CUDA_ENABLED
 namespace Ort
 {
     template<>
@@ -196,7 +196,7 @@ const char* YOLO_V8::RunSession(const cv::Mat& iImg, std::vector<DL_RESULT>& oRe
     }
     else
     {
-#ifdef YOLO_ONNX_ROS_CUDA_ENABLED
+#if defined(YOLO_ONNX_ROS_CUDA_ENABLED) && YOLO_ONNX_ROS_CUDA_ENABLED
         half* blob = new half[processedImg.total() * 3];
         BlobFromImage(processedImg, blob);
         std::vector<int64_t> inputNodeDims = { 1, 3, imgSize_.at(1), imgSize_.at(0) };
@@ -369,7 +369,7 @@ char* YOLO_V8::WarmUpSession() {
     }
     else
     {
-#ifdef YOLO_ONNX_ROS_CUDA_ENABLED
+#if defined(YOLO_ONNX_ROS_CUDA_ENABLED) && YOLO_ONNX_ROS_CUDA_ENABLED
         half* blob = new half[iImg.total() * 3];
         BlobFromImage(processedImg, blob);
         std::vector<int64_t> YOLO_input_node_dims = { 1, 3, imgSize_.at(1), imgSize_.at(0) };