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 +1,79 @@
+// 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 "Defs.hpp"
+#include "../CudaRaster.hpp"
+#include "RasterImpl.hpp"
+
+using namespace CR;
+
+//------------------------------------------------------------------------
+// Stub interface implementation.
+//------------------------------------------------------------------------
+
+CudaRaster::CudaRaster()
+{
+    m_impl = new RasterImpl();
+}
+
+CudaRaster::~CudaRaster()
+{
+    delete m_impl;
+}
+
+void CudaRaster::setBufferSize(int width, int height, int numImages)
+{
+    m_impl->setBufferSize(Vec3i(width, height, numImages));
+}
+
+void CudaRaster::setViewport(int width, int height, int offsetX, int offsetY)
+{
+    m_impl->setViewport(Vec2i(width, height), Vec2i(offsetX, offsetY));
+}
+
+void CudaRaster::setRenderModeFlags(U32 flags)
+{
+    m_impl->setRenderModeFlags(flags);
+}
+
+void CudaRaster::deferredClear(U32 clearColor)
+{
+    m_impl->deferredClear(clearColor);
+}
+
+void CudaRaster::setVertexBuffer(void* vertices, int numVertices)
+{
+    m_impl->setVertexBuffer(vertices, numVertices);
+}
+
+void CudaRaster::setIndexBuffer(void* indices, int numTriangles)
+{
+    m_impl->setIndexBuffer(indices, numTriangles);
+}
+
+bool CudaRaster::drawTriangles(const int* ranges, bool peel, cudaStream_t stream)
+{
+    return m_impl->drawTriangles((const Vec2i*)ranges, peel, stream);
+}
+
+void* CudaRaster::getColorBuffer(void)
+{
+    return m_impl->getColorBuffer();
+}
+
+void* CudaRaster::getDepthBuffer(void)
+{
+    return m_impl->getDepthBuffer();
+}
+
+void CudaRaster::swapDepthAndPeel(void)
+{
+    m_impl->swapDepthAndPeel();
+}
+
+//------------------------------------------------------------------------