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>
95 lines
2.0 KiB
C++
95 lines
2.0 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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#include "../../framework.h"
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#include "Buffer.hpp"
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using namespace CR;
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//------------------------------------------------------------------------
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// GPU buffer.
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//------------------------------------------------------------------------
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Buffer::Buffer(void)
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: m_gpuPtr(NULL),
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m_bytes (0)
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{
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// empty
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}
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Buffer::~Buffer(void)
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{
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if (m_gpuPtr)
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cudaFree(m_gpuPtr); // Don't throw an exception.
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}
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void Buffer::reset(size_t bytes)
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{
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if (bytes == m_bytes)
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return;
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if (m_gpuPtr)
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{
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NVDR_CHECK_CUDA_ERROR(cudaFree(m_gpuPtr));
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m_gpuPtr = NULL;
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}
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if (bytes > 0)
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NVDR_CHECK_CUDA_ERROR(cudaMalloc(&m_gpuPtr, bytes));
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m_bytes = bytes;
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}
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void Buffer::grow(size_t bytes)
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{
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if (bytes > m_bytes)
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reset(bytes);
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}
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//------------------------------------------------------------------------
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// Host buffer with page-locked memory.
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//------------------------------------------------------------------------
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HostBuffer::HostBuffer(void)
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: m_hostPtr(NULL),
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m_bytes (0)
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{
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// empty
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}
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HostBuffer::~HostBuffer(void)
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{
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if (m_hostPtr)
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cudaFreeHost(m_hostPtr); // Don't throw an exception.
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}
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void HostBuffer::reset(size_t bytes)
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{
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if (bytes == m_bytes)
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return;
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if (m_hostPtr)
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{
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NVDR_CHECK_CUDA_ERROR(cudaFreeHost(m_hostPtr));
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m_hostPtr = NULL;
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}
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if (bytes > 0)
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NVDR_CHECK_CUDA_ERROR(cudaMallocHost(&m_hostPtr, bytes));
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m_bytes = bytes;
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}
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void HostBuffer::grow(size_t bytes)
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{
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if (bytes > m_bytes)
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reset(bytes);
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}
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//------------------------------------------------------------------------
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