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>
64 lines
3.6 KiB
C++
64 lines
3.6 KiB
C++
// Copyright (c) 2009-2022, 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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#pragma once
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//------------------------------------------------------------------------
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// This is a slimmed-down and modernized version of the original
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// CudaRaster codebase that accompanied the HPG 2011 paper
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// "High-Performance Software Rasterization on GPUs" by Laine and Karras.
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// Modifications have been made to accommodate post-Volta execution model
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// with warp divergence. Support for shading, blending, quad rendering,
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// and supersampling have been removed as unnecessary for nvdiffrast.
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//------------------------------------------------------------------------
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namespace CR
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{
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class RasterImpl;
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//------------------------------------------------------------------------
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// Interface class to isolate user from implementation details.
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//------------------------------------------------------------------------
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class CudaRaster
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{
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public:
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enum
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{
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RenderModeFlag_EnableBackfaceCulling = 1 << 0, // Enable backface culling.
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RenderModeFlag_EnableDepthPeeling = 1 << 1, // Enable depth peeling. Must have a peel buffer set.
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};
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public:
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CudaRaster (void);
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~CudaRaster (void);
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void setBufferSize (int width, int height, int numImages); // Width and height are internally rounded up to multiples of tile size (8x8) for buffer sizes.
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void setViewport (int width, int height, int offsetX, int offsetY); // Tiled rendering viewport setup.
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void setRenderModeFlags (unsigned int renderModeFlags); // Affects all subsequent calls to drawTriangles(). Defaults to zero.
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void deferredClear (unsigned int clearColor); // Clears color and depth buffers during next call to drawTriangles().
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void setVertexBuffer (void* vertices, int numVertices); // GPU pointer managed by caller. Vertex positions in clip space as float4 (x, y, z, w).
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void setIndexBuffer (void* indices, int numTriangles); // GPU pointer managed by caller. Triangle index+color quadruplets as uint4 (idx0, idx1, idx2, color).
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bool drawTriangles (const int* ranges, bool peel, cudaStream_t stream); // Ranges (offsets and counts) as #triangles entries, not as bytes. If NULL, draw all triangles. Returns false in case of internal overflow.
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void* getColorBuffer (void); // GPU pointer managed by CudaRaster.
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void* getDepthBuffer (void); // GPU pointer managed by CudaRaster.
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void swapDepthAndPeel (void); // Swap depth and peeling buffers.
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private:
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CudaRaster (const CudaRaster&); // forbidden
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CudaRaster& operator= (const CudaRaster&); // forbidden
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private:
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RasterImpl* m_impl; // Opaque pointer to implementation.
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};
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//------------------------------------------------------------------------
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} // namespace CR
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