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

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

third_party/vipe/csrc/slam_ext/slam.cpp

@@ -0,0 +1,37 @@
+/**
+ * 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>
+
+namespace slam_ext {
+
+torch::Tensor depth_filter_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics, torch::Tensor ix,
+                                torch::Tensor thresh);
+
+torch::Tensor frame_distance_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics, torch::Tensor pi,
+                                  torch::Tensor pj, torch::Tensor qi, torch::Tensor qj, torch::Tensor di,
+                                  const float beta);
+
+std::vector<torch::Tensor> projmap_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics,
+                                        torch::Tensor ii, torch::Tensor jj);
+
+torch::Tensor iproj_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics);
+
+std::vector<torch::Tensor> ba_cuda(torch::Tensor poses, torch::Tensor disps, torch::Tensor intrinsics,
+                                   torch::Tensor disps_sens, torch::Tensor targets, torch::Tensor weights,
+                                   torch::Tensor eta, torch::Tensor ii, torch::Tensor jj, const int t0, const int t1,
+                                   const int iterations, const float lm, const float ep, const bool motion_only);
+
+}  // namespace slam_ext
+
+void pybind_slam_ext(py::module &m) {
+    m.def("ba", &slam_ext::ba_cuda, "bundle adjustment");
+    m.def("frame_distance", &slam_ext::frame_distance_cuda, "frame_distance");
+    m.def("projmap", &slam_ext::projmap_cuda, "projmap");
+    m.def("depth_filter", &slam_ext::depth_filter_cuda, "depth_filter");
+    m.def("iproj", &slam_ext::iproj_cuda, "back projection");
+}