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
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+/***********************************************************************
+ * The code in this file is modified from the original code in the
+ * https://github.com/jlblancoc/nanoflann repository.
+ *
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
+ * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
+ * Copyright 2011-2025  Jose Luis Blanco (joseluisblancoc@gmail.com).
+ *   All rights reserved.
+ *
+ * THE BSD LICENSE
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *************************************************************************/
+
+#ifndef FLANN_CUDA_KD_TREE_BUILDER_H_
+#define FLANN_CUDA_KD_TREE_BUILDER_H_
+
+#include <thrust/host_vector.h>
+#include <thrust/device_vector.h>
+#include <thrust/sort.h>
+#include <thrust/partition.h>
+#include <thrust/unique.h>
+#include <thrust/scan.h>
+#include "math_util.h"
+#include <cstdlib>
+#include <map>
+
+namespace tinyflann {
+
+// Distance types.
+struct CudaL1;
+struct CudaL2;
+
+// Parameters
+struct KDTreeCuda3dIndexParams {
+    int leaf_max_size = 64;
+};
+
+struct SearchParams {
+    SearchParams(int checks_ = 32, float eps_ = 0.0, bool sorted_ = true)
+        : checks(checks_), eps(eps_), sorted(sorted_) {
+        max_neighbors = -1;
+        use_heap = true;
+    }
+
+    // how many leafs to visit when searching for neighbours (-1 for unlimited)
+    int checks;
+    // search for eps-approximate neighbours (default: 0)
+    float eps;
+    // only for radius search, require neighbours sorted by distance (default: true)
+    bool sorted;
+    // maximum number of neighbors radius search should return (-1 for unlimited)
+    int max_neighbors;
+    // use a heap to manage the result set (default: FLANN_Undefined)
+    bool use_heap;
+};
+
+template <typename Distance>
+class KDTreeCuda3dIndex {
+   public:
+    int visited_leafs;
+    KDTreeCuda3dIndex(const float* input_data, size_t input_count,
+                      const KDTreeCuda3dIndexParams& params = KDTreeCuda3dIndexParams())
+        : dataset_(input_data), leaf_count_(0), visited_leafs(0), node_count_(0), current_node_count_(0) {
+        size_ = input_count;
+        leaf_max_size_ = params.leaf_max_size;
+        gpu_helper_ = 0;
+    }
+
+    /**
+     * Standard destructor
+     */
+    ~KDTreeCuda3dIndex() { clearGpuBuffers(); }
+
+    /**
+     * Builds the index
+     */
+    void buildIndex() {
+        leaf_count_ = 0;
+        node_count_ = 0;
+        uploadTreeToGpu();
+    }
+
+    /**
+     * queries: (N, p) flattened float cuda array where only first 3 elements are used.
+     * n_query: N
+     * n_query_stride: p
+     * indices: (N, knn) int cuda array
+     * dists: (N, knn) float cuda array
+     */
+    void knnSearch(const float* queries, size_t n_query, int n_query_stride, int* indices, float* dists, size_t knn,
+                   const SearchParams& params = SearchParams()) const;
+    int radiusSearch(const float* queries, size_t n_query, int n_query_stride, int* indices, float* dists, float radius,
+                     const SearchParams& params = SearchParams()) const;
+
+   private:
+    void uploadTreeToGpu();
+    void clearGpuBuffers();
+
+   private:
+    struct GpuHelper;
+    GpuHelper* gpu_helper_;
+
+    const float* dataset_;
+    int leaf_max_size_;
+    int leaf_count_;
+    int node_count_;
+    //! used by convertTreeToGpuFormat
+    int current_node_count_;
+    size_t size_;
+
+};  // class KDTreeCuda3dIndex
+
+}  // namespace tinyflann
+
+#endif