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>
80 lines
2.0 KiB
C++
80 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 "Defs.hpp"
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#include "../CudaRaster.hpp"
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#include "RasterImpl.hpp"
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using namespace CR;
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//------------------------------------------------------------------------
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// Stub interface implementation.
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//------------------------------------------------------------------------
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CudaRaster::CudaRaster()
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{
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m_impl = new RasterImpl();
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}
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CudaRaster::~CudaRaster()
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{
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delete m_impl;
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}
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void CudaRaster::setBufferSize(int width, int height, int numImages)
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{
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m_impl->setBufferSize(Vec3i(width, height, numImages));
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}
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void CudaRaster::setViewport(int width, int height, int offsetX, int offsetY)
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{
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m_impl->setViewport(Vec2i(width, height), Vec2i(offsetX, offsetY));
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}
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void CudaRaster::setRenderModeFlags(U32 flags)
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{
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m_impl->setRenderModeFlags(flags);
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}
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void CudaRaster::deferredClear(U32 clearColor)
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{
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m_impl->deferredClear(clearColor);
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}
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void CudaRaster::setVertexBuffer(void* vertices, int numVertices)
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{
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m_impl->setVertexBuffer(vertices, numVertices);
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}
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void CudaRaster::setIndexBuffer(void* indices, int numTriangles)
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{
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m_impl->setIndexBuffer(indices, numTriangles);
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}
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bool CudaRaster::drawTriangles(const int* ranges, bool peel, cudaStream_t stream)
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{
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return m_impl->drawTriangles((const Vec2i*)ranges, peel, stream);
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}
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void* CudaRaster::getColorBuffer(void)
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{
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return m_impl->getColorBuffer();
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}
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void* CudaRaster::getDepthBuffer(void)
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{
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return m_impl->getDepthBuffer();
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}
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void CudaRaster::swapDepthAndPeel(void)
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{
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m_impl->swapDepthAndPeel();
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}
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//------------------------------------------------------------------------
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