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 +1,104 @@
+// Copyright (c) 2020, 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 "texture.h"
+
+//------------------------------------------------------------------------
+// Mip stack construction and access helpers.
+
+void raiseMipSizeError(const TextureKernelParams& p)
+{
+    char buf[1024];
+    int bufsz = 1024;
+
+    std::string msg = "Mip-map size error - cannot downsample an odd extent greater than 1. Resize the texture so that both spatial extents are powers of two, or limit the number of mip maps using max_mip_level argument.\n";
+
+    int w = p.texWidth;
+    int h = p.texHeight;
+    bool ew = false;
+    bool eh = false;
+
+    msg += "Attempted mip stack construction:\n";
+    msg +=               "level  width height\n";
+    msg +=               "-----  ----- ------\n";
+    snprintf(buf, bufsz, "base   %5d  %5d\n", w, h);
+    msg += buf;
+
+    int mipTotal = 0;
+    int level = 0;
+    while ((w|h) > 1 && !(ew || eh)) // Stop at first impossible size.
+    {
+        // Current level.
+        level += 1;
+
+        // Determine if downsampling fails.
+        ew = ew || (w > 1 && (w & 1));
+        eh = eh || (h > 1 && (h & 1));
+
+        // Downsample.
+        if (w > 1) w >>= 1;
+        if (h > 1) h >>= 1;
+
+        // Append level size to error message.
+        snprintf(buf, bufsz, "mip %-2d ", level);
+        msg += buf; 
+        if (ew) snprintf(buf, bufsz, "  err  ");
+        else    snprintf(buf, bufsz, "%5d  ", w);
+        msg += buf;
+        if (eh) snprintf(buf, bufsz, "  err\n");
+        else    snprintf(buf, bufsz, "%5d\n", h);
+        msg += buf;
+    }
+
+    NVDR_CHECK(0, msg);
+}
+
+int calculateMipInfo(TextureKernelParams& p, int* mipOffsets)
+{
+    // No levels at all?
+    if (p.mipLevelLimit == 0)
+    {
+        p.mipLevelMax = 0;
+        return 0;
+    }
+
+    // Current level size.
+    int w = p.texWidth;
+    int h = p.texHeight;
+
+    int mipTotal = 0;
+    int level = 0;
+    int c = (p.boundaryMode == TEX_BOUNDARY_MODE_CUBE) ? (p.channels * 6) : p.channels;
+    mipOffsets[0] = 0;
+    while ((w|h) > 1)
+    {
+        // Current level.
+        level += 1;
+
+        // Quit if cannot downsample.
+        if ((w > 1 && (w & 1)) || (h > 1 && (h & 1)))
+            raiseMipSizeError(p);
+
+        // Downsample.
+        if (w > 1) w >>= 1;
+        if (h > 1) h >>= 1;
+
+        mipOffsets[level] = mipTotal; // Store the mip offset (#floats).
+        mipTotal += w * h * p.texDepth * c;
+
+        // Hit the level limit?
+        if (p.mipLevelLimit >= 0 && level == p.mipLevelLimit)
+            break;
+    }
+
+    p.mipLevelMax = level;
+    return mipTotal;
+}
+
+//------------------------------------------------------------------------