Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
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+/**
+ * This file includes code originally from the DROID-SLAM repository:
+ * https://github.com/princeton-vl/DROID-SLAM
+ * Licensed under the BSD-3 License. See THIRD_PARTY_LICENSES.md for details.
+ */
+
+#include <torch/extension.h>
+#include <vector>
+
+#define CHECK_CONTIGUOUS(x) TORCH_CHECK(x.is_contiguous(), #x " must be contiguous")
+#define CHECK_INPUT(x) CHECK_CONTIGUOUS(x)
+
+std::vector<torch::Tensor> corr_index_cuda_forward(torch::Tensor volume, torch::Tensor coords, int radius);
+std::vector<torch::Tensor> corr_index_cuda_backward(torch::Tensor volume, torch::Tensor coords, torch::Tensor corr_grad,
+                                                    int radius);
+std::vector<torch::Tensor> altcorr_cuda_forward(torch::Tensor fmap1, torch::Tensor fmap2, torch::Tensor coords,
+                                                int radius);
+std::vector<torch::Tensor> altcorr_cuda_backward(torch::Tensor fmap1, torch::Tensor fmap2, torch::Tensor coords,
+                                                 torch::Tensor corr_grad, int radius);
+
+// c++ python binding
+std::vector<torch::Tensor> corr_index_forward(torch::Tensor volume, torch::Tensor coords, int radius) {
+    CHECK_INPUT(volume);
+    CHECK_INPUT(coords);
+
+    return corr_index_cuda_forward(volume, coords, radius);
+}
+
+std::vector<torch::Tensor> corr_index_backward(torch::Tensor volume, torch::Tensor coords, torch::Tensor corr_grad,
+                                               int radius) {
+    CHECK_INPUT(volume);
+    CHECK_INPUT(coords);
+    CHECK_INPUT(corr_grad);
+
+    auto volume_grad = corr_index_cuda_backward(volume, coords, corr_grad, radius);
+    return {volume_grad};
+}
+
+std::vector<torch::Tensor> altcorr_forward(torch::Tensor fmap1, torch::Tensor fmap2, torch::Tensor coords, int radius) {
+    CHECK_INPUT(fmap1);
+    CHECK_INPUT(fmap2);
+    CHECK_INPUT(coords);
+
+    return altcorr_cuda_forward(fmap1, fmap2, coords, radius);
+}
+
+std::vector<torch::Tensor> altcorr_backward(torch::Tensor fmap1, torch::Tensor fmap2, torch::Tensor coords,
+                                            torch::Tensor corr_grad, int radius) {
+    CHECK_INPUT(fmap1);
+    CHECK_INPUT(fmap2);
+    CHECK_INPUT(coords);
+    CHECK_INPUT(corr_grad);
+
+    return altcorr_cuda_backward(fmap1, fmap2, coords, corr_grad, radius);
+}
+
+void pybind_droid_net_ext(py::module& m) {
+    // correlation volume kernels
+    m.def("altcorr_forward", &altcorr_forward, "ALTCORR forward");
+    m.def("altcorr_backward", &altcorr_backward, "ALTCORR backward");
+    m.def("corr_index_forward", &corr_index_forward, "INDEX forward");
+    m.def("corr_index_backward", &corr_index_backward, "INDEX backward");
+}