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
@@ -0,0 +1,94 @@
+// 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.
+
+#include "../../framework.h"
+#include "Buffer.hpp"
+
+using namespace CR;
+
+//------------------------------------------------------------------------
+// GPU buffer.
+//------------------------------------------------------------------------
+
+Buffer::Buffer(void)
+:   m_gpuPtr(NULL),
+    m_bytes (0)
+{
+    // empty
+}
+
+Buffer::~Buffer(void)
+{
+    if (m_gpuPtr)
+        cudaFree(m_gpuPtr); // Don't throw an exception.
+}
+
+void Buffer::reset(size_t bytes)
+{
+    if (bytes == m_bytes)
+        return;
+
+    if (m_gpuPtr)
+    {
+        NVDR_CHECK_CUDA_ERROR(cudaFree(m_gpuPtr));
+        m_gpuPtr = NULL;
+    }
+
+    if (bytes > 0)
+        NVDR_CHECK_CUDA_ERROR(cudaMalloc(&m_gpuPtr, bytes));
+
+    m_bytes = bytes;
+}
+
+void Buffer::grow(size_t bytes)
+{
+    if (bytes > m_bytes)
+        reset(bytes);
+}
+
+//------------------------------------------------------------------------
+// Host buffer with page-locked memory.
+//------------------------------------------------------------------------
+
+HostBuffer::HostBuffer(void)
+:   m_hostPtr(NULL),
+    m_bytes  (0)
+{
+    // empty
+}
+
+HostBuffer::~HostBuffer(void)
+{
+    if (m_hostPtr)
+        cudaFreeHost(m_hostPtr); // Don't throw an exception.
+}
+
+void HostBuffer::reset(size_t bytes)
+{
+    if (bytes == m_bytes)
+        return;
+
+    if (m_hostPtr)
+    {
+        NVDR_CHECK_CUDA_ERROR(cudaFreeHost(m_hostPtr));
+        m_hostPtr = NULL;
+    }
+
+    if (bytes > 0)
+        NVDR_CHECK_CUDA_ERROR(cudaMallocHost(&m_hostPtr, bytes));
+
+    m_bytes = bytes;
+}
+
+void HostBuffer::grow(size_t bytes)
+{
+    if (bytes > m_bytes)
+        reset(bytes);
+}
+
+//------------------------------------------------------------------------