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>
74 lines
3.1 KiB
C++
74 lines
3.1 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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#define CR_MAXVIEWPORT_LOG2 11 // ViewportSize / PixelSize.
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#define CR_SUBPIXEL_LOG2 4 // PixelSize / SubpixelSize.
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#define CR_MAXBINS_LOG2 4 // ViewportSize / BinSize.
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#define CR_BIN_LOG2 4 // BinSize / TileSize.
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#define CR_TILE_LOG2 3 // TileSize / PixelSize.
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#define CR_COVER8X8_LUT_SIZE 768 // 64-bit entries.
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#define CR_FLIPBIT_FLIP_Y 2
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#define CR_FLIPBIT_FLIP_X 3
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#define CR_FLIPBIT_SWAP_XY 4
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#define CR_FLIPBIT_COMPL 5
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#define CR_BIN_STREAMS_LOG2 4
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#define CR_BIN_SEG_LOG2 9 // 32-bit entries.
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#define CR_TILE_SEG_LOG2 5 // 32-bit entries.
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#define CR_MAXSUBTRIS_LOG2 24 // Triangle structs. Dictated by CoarseRaster.
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#define CR_COARSE_QUEUE_LOG2 10 // Triangles.
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#define CR_SETUP_WARPS 2
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#define CR_SETUP_OPT_BLOCKS 8
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#define CR_BIN_WARPS 16
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#define CR_COARSE_WARPS 16 // Must be a power of two.
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#define CR_FINE_MAX_WARPS 20
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#define CR_EMBED_IMAGE_PARAMS 32 // Number of per-image parameter structs embedded in kernel launch parameter block.
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//------------------------------------------------------------------------
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#define CR_MAXVIEWPORT_SIZE (1 << CR_MAXVIEWPORT_LOG2)
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#define CR_SUBPIXEL_SIZE (1 << CR_SUBPIXEL_LOG2)
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#define CR_SUBPIXEL_SQR (1 << (CR_SUBPIXEL_LOG2 * 2))
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#define CR_MAXBINS_SIZE (1 << CR_MAXBINS_LOG2)
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#define CR_MAXBINS_SQR (1 << (CR_MAXBINS_LOG2 * 2))
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#define CR_BIN_SIZE (1 << CR_BIN_LOG2)
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#define CR_BIN_SQR (1 << (CR_BIN_LOG2 * 2))
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#define CR_MAXTILES_LOG2 (CR_MAXBINS_LOG2 + CR_BIN_LOG2)
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#define CR_MAXTILES_SIZE (1 << CR_MAXTILES_LOG2)
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#define CR_MAXTILES_SQR (1 << (CR_MAXTILES_LOG2 * 2))
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#define CR_TILE_SIZE (1 << CR_TILE_LOG2)
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#define CR_TILE_SQR (1 << (CR_TILE_LOG2 * 2))
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#define CR_BIN_STREAMS_SIZE (1 << CR_BIN_STREAMS_LOG2)
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#define CR_BIN_SEG_SIZE (1 << CR_BIN_SEG_LOG2)
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#define CR_TILE_SEG_SIZE (1 << CR_TILE_SEG_LOG2)
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#define CR_MAXSUBTRIS_SIZE (1 << CR_MAXSUBTRIS_LOG2)
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#define CR_COARSE_QUEUE_SIZE (1 << CR_COARSE_QUEUE_LOG2)
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//------------------------------------------------------------------------
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// When evaluating interpolated Z pixel centers, we may introduce an error
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// of (+-CR_LERP_ERROR) ULPs.
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#define CR_LERP_ERROR(SAMPLES_LOG2) (2200u << (SAMPLES_LOG2))
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#define CR_DEPTH_MIN CR_LERP_ERROR(3)
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#define CR_DEPTH_MAX (CR_U32_MAX - CR_LERP_ERROR(3))
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//------------------------------------------------------------------------
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