Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER, documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight manifest/downloader. Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the 20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed (third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
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+// Copyright (c) 2009-2022, NVIDIA CORPORATION.  All rights reserved.
+//
+// NVIDIA CORPORATION and its licensors retain all intellectual property
+// and proprietary rights in and to this software, related documentation
+// and any modifications thereto.  Any use, reproduction, disclosure or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+#pragma once
+
+//------------------------------------------------------------------------
+// This is a slimmed-down and modernized version of the original
+// CudaRaster codebase that accompanied the HPG 2011 paper
+// "High-Performance Software Rasterization on GPUs" by Laine and Karras.
+// Modifications have been made to accommodate post-Volta execution model
+// with warp divergence. Support for shading, blending, quad rendering,
+// and supersampling have been removed as unnecessary for nvdiffrast.
+//------------------------------------------------------------------------
+
+namespace CR
+{
+
+class RasterImpl;
+
+//------------------------------------------------------------------------
+// Interface class to isolate user from implementation details.
+//------------------------------------------------------------------------
+
+class CudaRaster
+{
+public:
+    enum
+    {
+        RenderModeFlag_EnableBackfaceCulling = 1 << 0,   // Enable backface culling.
+        RenderModeFlag_EnableDepthPeeling    = 1 << 1,   // Enable depth peeling. Must have a peel buffer set.
+    };
+
+public:
+					        CudaRaster				(void);
+					        ~CudaRaster				(void);
+
+    void                    setBufferSize           (int width, int height, int numImages);              // Width and height are internally rounded up to multiples of tile size (8x8) for buffer sizes.
+    void                    setViewport             (int width, int height, int offsetX, int offsetY);   // Tiled rendering viewport setup.
+    void                    setRenderModeFlags      (unsigned int renderModeFlags);                      // Affects all subsequent calls to drawTriangles(). Defaults to zero.
+    void                    deferredClear           (unsigned int clearColor);                           // Clears color and depth buffers during next call to drawTriangles().
+    void                    setVertexBuffer         (void* vertices, int numVertices);                   // GPU pointer managed by caller. Vertex positions in clip space as float4 (x, y, z, w).
+    void                    setIndexBuffer          (void* indices, int numTriangles);                   // GPU pointer managed by caller. Triangle index+color quadruplets as uint4 (idx0, idx1, idx2, color).
+    bool                    drawTriangles           (const int* ranges, bool peel, cudaStream_t stream); // Ranges (offsets and counts) as #triangles entries, not as bytes. If NULL, draw all triangles. Returns false in case of internal overflow.
+    void*                   getColorBuffer          (void);                                              // GPU pointer managed by CudaRaster.
+    void*                   getDepthBuffer          (void);                                              // GPU pointer managed by CudaRaster.
+    void                    swapDepthAndPeel        (void);                                              // Swap depth and peeling buffers.
+
+private:
+					        CudaRaster           	(const CudaRaster&); // forbidden
+	CudaRaster&             operator=           	(const CudaRaster&); // forbidden
+
+private:
+    RasterImpl*             m_impl;                 // Opaque pointer to implementation.
+};
+
+//------------------------------------------------------------------------
+} // namespace CR
+