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

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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liyang
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
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third_party/vipe/csrc/lietorch_ext/dispatch.h
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/**
* This file includes code originally from the lietorch repository:
* https://github.com/princeton-vl/lietorch
* Licensed under the BSD-3 License. See THIRD_PARTY_LICENSES.md for details.
*/
#ifndef DISPATCH_H
#define DISPATCH_H
#include <torch/extension.h>
#include "so3.h"
#include "rxso3.h"
#include "se3.h"
#include "sim3.h"
#define PRIVATE_CASE_TYPE(group_index, enum_type, type, ...) \
case enum_type: { \
using scalar_t = type; \
switch (group_index) { \
case 1: { \
using group_t = SO3<type>; \
return __VA_ARGS__(); \
} \
case 2: { \
using group_t = RxSO3<type>; \
return __VA_ARGS__(); \
} \
case 3: { \
using group_t = SE3<type>; \
return __VA_ARGS__(); \
} \
case 4: { \
using group_t = Sim3<type>; \
return __VA_ARGS__(); \
} \
} \
}
#define DISPATCH_GROUP_AND_FLOATING_TYPES(GROUP_INDEX, TYPE, NAME, ...) \
[&] { \
const auto& the_type = TYPE; \
/* don't use TYPE again in case it is an expensive or side-effect op */ \
switch (the_type) { \
PRIVATE_CASE_TYPE(GROUP_INDEX, at::ScalarType::Double, double, __VA_ARGS__) \
PRIVATE_CASE_TYPE(GROUP_INDEX, at::ScalarType::Float, float, __VA_ARGS__) \
default: \
break; \
} \
}()
#endif