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setup.py

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import os.path as osp

from setuptools import setup, find_packages

try:

from torch.utils.cpp_extension import BuildExtension, CUDAExtension

except ModuleNotFoundError as exc:

raise ModuleNotFoundError(

"dpvo requires PyTorch to build its CUDA extensions. "

"Please install torch in your current environment and reinstall dpvo. "

"If you are using pip's build isolation, export TORCH_INSTALL_PATH or "

"DPVO_TORCH_PREFIX to the site-packages containing torch, or rerun with "

"`pip install -e . --no-build-isolation`."

) from exc

ROOT = osp.dirname(osp.abspath(__file__))

setup(

name='dpvo',

packages=find_packages(),

ext_modules=[

CUDAExtension('cuda_corr',

sources=['dpvo/altcorr/correlation.cpp', 'dpvo/altcorr/correlation_kernel.cu'],

extra_compile_args={

'cxx': ['-O3'],

'nvcc': ['-O3'],

}),

CUDAExtension('cuda_ba',

sources=['dpvo/fastba/ba.cpp', 'dpvo/fastba/ba_cuda.cu'],

extra_compile_args={

'cxx': ['-O3'],

'nvcc': ['-O3'],

}),

# lietorch_backends is now provided by standalone lietorch package

# (installed from DROID_SLAM/thirdparty/lietorch)

],

cmdclass={

'build_ext': BuildExtension

})