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 +1,102 @@
+// 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 "PrivateDefs.hpp"
+#include "Buffer.hpp"
+#include "../CudaRaster.hpp"
+
+namespace CR
+{
+//------------------------------------------------------------------------
+
+class RasterImpl
+{
+public:
+					        RasterImpl				(void);
+					        ~RasterImpl				(void);
+
+    void                    setBufferSize           (Vec3i size);
+    void                    setViewport             (Vec2i size, Vec2i offset);
+    void                    setRenderModeFlags      (U32 flags) { m_renderModeFlags = flags; }
+    void                    deferredClear           (U32 color) { m_deferredClear = true; m_clearColor = color; }
+    void                    setVertexBuffer         (void* ptr, int numVertices) { m_vertexPtr = ptr; m_numVertices = numVertices; } // GPU pointer.
+    void                    setIndexBuffer          (void* ptr, int numTriangles) { m_indexPtr = ptr; m_numTriangles = numTriangles; } // GPU pointer.
+    bool                    drawTriangles           (const Vec2i* ranges, bool peel, cudaStream_t stream);
+    void*                   getColorBuffer          (void) { return m_colorBuffer.getPtr(); } // GPU pointer.
+    void*                   getDepthBuffer          (void) { return m_depthBuffer.getPtr(); } // GPU pointer.
+    void                    swapDepthAndPeel        (void);
+    size_t                  getTotalBufferSizes     (void) const;
+
+private:
+    void                    launchStages            (bool instanceMode, bool peel, cudaStream_t stream);
+
+    // State.
+
+    unsigned int            m_renderModeFlags;
+    bool                    m_deferredClear;
+    unsigned int            m_clearColor;
+    void*                   m_vertexPtr;
+    void*                   m_indexPtr;
+    int                     m_numVertices;          // Input buffer size.
+    int                     m_numTriangles;         // Input buffer size.
+    size_t                  m_bufferSizesReported;  // Previously reported buffer sizes.
+
+    // Surfaces.
+
+    Buffer                  m_colorBuffer;
+    Buffer                  m_depthBuffer;
+    Buffer                  m_peelBuffer;
+    int                     m_numImages;
+    Vec2i                   m_bufferSizePixels;     // Internal buffer size.
+    Vec2i                   m_bufferSizeVp;         // Total viewport size.
+    Vec2i                   m_sizePixels;           // Internal size at which all computation is done, buffers reserved, etc.
+    Vec2i                   m_sizeVp;               // Size to which output will be cropped outside, determines viewport size.
+    Vec2i                   m_offsetPixels;         // Viewport offset for tiled rendering.
+    Vec2i                   m_sizeBins;
+    S32                     m_numBins;
+    Vec2i                   m_sizeTiles;
+    S32                     m_numTiles;
+
+    // Launch sizes etc.
+
+    S32                     m_numSMs;
+    S32                     m_numCoarseBlocksPerSM;
+    S32                     m_numFineBlocksPerSM;
+    S32                     m_numFineWarpsPerBlock;
+
+    // Global intermediate buffers. Individual images have offsets to these.
+
+    Buffer                  m_crAtomics;
+    HostBuffer              m_crAtomicsHost;
+    HostBuffer              m_crImageParamsHost;
+    Buffer                  m_crImageParamsExtra;
+    Buffer                  m_triSubtris;
+    Buffer                  m_triHeader;
+    Buffer                  m_triData;
+    Buffer                  m_binFirstSeg;
+    Buffer                  m_binTotal;
+    Buffer                  m_binSegData;
+    Buffer                  m_binSegNext;
+	Buffer                  m_binSegCount;
+    Buffer                  m_activeTiles;
+    Buffer                  m_tileFirstSeg;
+    Buffer                  m_tileSegData;
+    Buffer                  m_tileSegNext;
+    Buffer                  m_tileSegCount;
+
+    // Actual buffer sizes.
+
+    S32                     m_maxSubtris;
+    S32                     m_maxBinSegs;
+    S32                     m_maxTileSegs;
+};
+
+//------------------------------------------------------------------------
+} // namespace CR
+