add option not to install pytorch in build

HiroIshida · Feb 5, 2025 · e213e2b · e213e2b
1 parent 6615afc
commit e213e2b
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(detic_ros)
 
+option(DETIC_ROS_INSTALL_TORCH "Installing the pytorch when building" ON)
+
 find_package(catkin REQUIRED COMPONENTS
     catkin_virtualenv
     std_msgs
@@ -66,9 +68,16 @@ catkin_package(
     CATKIN_DEPENDS message_runtime
 )
 
+if(DETIC_ROS_INSTALL_TORCH)
+    set(REQUIREMENTS requirements_with_torch.txt)
+else()
+    set(REQUIREMENTS requirements_without_torch.txt)
+endif()
+
 catkin_generate_virtualenv(
     PYTHON_INTERPRETER python3
     CHECK_VENV FALSE
+    INPUT_REQUIREMENTS ${REQUIREMENTS}
 )
 
 file(GLOB PYTHON_SCRIPTS node_script/*.py)

diff --git a/requirements.txt → requirements_with_torch.txt b/requirements.txt → requirements_with_torch.txt
diff --git a/requirements_without_torch.txt b/requirements_without_torch.txt
@@ -0,0 +1,17 @@
+-f https://dl.fbaipublicfiles.com/detectron2/wheels/cu111/torch1.9/index.html
+detectron2
+
+pillow<10.0.0  # After 10.0.0, following error occurs: AttributeError: module 'PIL.Image' has no attribute 'LINEAR'
+
+# Copied from Detic
+opencv-python==4.5.5.62
+timm==0.5.4
+dataclasses  # remove version specification for local install
+ftfy==6.0.3
+regex==2022.1.18
+fasttext==0.9.2
+scikit-learn==1.0.2
+numpy==1.22.0
+lvis==0.5.3
+nltk==3.6.7
+git+https://github.com/openai/CLIP.git