liyang
ae28d55f81
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>
30 lines
1.3 KiB
C++
30 lines
1.3 KiB
C++
/*
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* Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved.
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*
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* NVIDIA CORPORATION and its licensors retain all intellectual property
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* and proprietary rights in and to this software, related documentation
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* and any modifications thereto. Any use, reproduction, disclosure or
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* distribution of this software and related documentation without an express
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* license agreement from NVIDIA CORPORATION is strictly prohibited.
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*/
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#pragma once
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#include <torch/extension.h>
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#include <vector>
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#define CHECK_CUDA(x) AT_ASSERTM(x.is_cuda(), #x " must be a CUDA tensor")
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#define CHECK_CONTIGUOUS(x) AT_ASSERTM(x.is_contiguous(), #x " must be contiguous")
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#define CHECK_INPUT(x) CHECK_CUDA(x); CHECK_CONTIGUOUS(x)
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inline int divCeil(int a, int b)
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{
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return (a+b-1)/b;
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};
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at::Tensor sampleRaysUniformOccupiedVoxels(const at::Tensor z_in_out, const at::Tensor z_sampled, at::Tensor z_vals);
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at::Tensor postprocessOctreeRayTracing(const at::Tensor ray_index, const at::Tensor depth_in_out, const at::Tensor unique_intersect_ray_ids, const at::Tensor start_poss, const int max_intersections, const int N_rays);
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void rayColorToTextureImageCUDA(const at::Tensor &F, const at::Tensor &V, const at::Tensor &hit_locations, const at::Tensor &hit_face_ids, const at::Tensor &uvs_tex, at::Tensor &uvs); |