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 +1,90 @@
+// 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
+#include <cuda_runtime.h>
+#include <cstdint>
+
+namespace CR
+{
+//------------------------------------------------------------------------
+
+#ifndef NULL
+#   define NULL 0
+#endif
+
+#ifdef __CUDACC__
+#   define CR_CUDA 1
+#else
+#   define CR_CUDA 0
+#endif
+
+#if CR_CUDA
+#   define CR_CUDA_FUNC     __device__ __inline__
+#   define CR_CUDA_CONST    __constant__
+#else
+#   define CR_CUDA_FUNC     inline
+#   define CR_CUDA_CONST    static const
+#endif
+
+#define CR_UNREF(X)         ((void)(X))
+#define CR_ARRAY_SIZE(X)    ((int)(sizeof(X) / sizeof((X)[0])))
+
+//------------------------------------------------------------------------
+
+typedef uint8_t             U8;
+typedef uint16_t            U16;
+typedef uint32_t            U32;
+typedef uint64_t            U64;
+typedef int8_t              S8;
+typedef int16_t             S16;
+typedef int32_t             S32;
+typedef int64_t             S64;
+typedef float               F32;
+typedef double              F64;
+typedef void                (*FuncPtr)(void);
+
+//------------------------------------------------------------------------
+
+#define CR_U32_MAX          (0xFFFFFFFFu)
+#define CR_S32_MIN          (~0x7FFFFFFF)
+#define CR_S32_MAX          (0x7FFFFFFF)
+#define CR_U64_MAX          ((U64)(S64)-1)
+#define CR_S64_MIN          ((S64)-1 << 63)
+#define CR_S64_MAX          (~((S64)-1 << 63))
+#define CR_F32_MIN          (1.175494351e-38f)
+#define CR_F32_MAX          (3.402823466e+38f)
+#define CR_F64_MIN          (2.2250738585072014e-308)
+#define CR_F64_MAX          (1.7976931348623158e+308)
+
+//------------------------------------------------------------------------
+// Misc types.
+
+class Vec2i
+{
+public:
+    Vec2i(int x_, int y_) : x(x_), y(y_) {}
+    int x, y;
+};
+
+class Vec3i
+{
+public:
+    Vec3i(int x_, int y_, int z_) : x(x_), y(y_), z(z_) {}
+    int x, y, z;
+};
+
+//------------------------------------------------------------------------
+// CUDA utilities.
+
+#if CR_CUDA
+#   define globalThreadIdx (threadIdx.x + blockDim.x * (threadIdx.y + blockDim.y * (blockIdx.x + gridDim.x * blockIdx.y)))
+#endif
+
+//------------------------------------------------------------------------
+} // namespace CR