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>
91 lines
2.5 KiB
C++
91 lines
2.5 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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#include <cuda_runtime.h>
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#include <cstdint>
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namespace CR
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{
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//------------------------------------------------------------------------
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#ifndef NULL
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# define NULL 0
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#endif
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#ifdef __CUDACC__
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# define CR_CUDA 1
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#else
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# define CR_CUDA 0
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#endif
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#if CR_CUDA
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# define CR_CUDA_FUNC __device__ __inline__
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# define CR_CUDA_CONST __constant__
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#else
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# define CR_CUDA_FUNC inline
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# define CR_CUDA_CONST static const
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#endif
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#define CR_UNREF(X) ((void)(X))
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#define CR_ARRAY_SIZE(X) ((int)(sizeof(X) / sizeof((X)[0])))
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//------------------------------------------------------------------------
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typedef uint8_t U8;
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typedef uint16_t U16;
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typedef uint32_t U32;
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typedef uint64_t U64;
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typedef int8_t S8;
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typedef int16_t S16;
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typedef int32_t S32;
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typedef int64_t S64;
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typedef float F32;
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typedef double F64;
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typedef void (*FuncPtr)(void);
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//------------------------------------------------------------------------
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#define CR_U32_MAX (0xFFFFFFFFu)
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#define CR_S32_MIN (~0x7FFFFFFF)
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#define CR_S32_MAX (0x7FFFFFFF)
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#define CR_U64_MAX ((U64)(S64)-1)
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#define CR_S64_MIN ((S64)-1 << 63)
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#define CR_S64_MAX (~((S64)-1 << 63))
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#define CR_F32_MIN (1.175494351e-38f)
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#define CR_F32_MAX (3.402823466e+38f)
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#define CR_F64_MIN (2.2250738585072014e-308)
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#define CR_F64_MAX (1.7976931348623158e+308)
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//------------------------------------------------------------------------
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// Misc types.
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class Vec2i
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{
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public:
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Vec2i(int x_, int y_) : x(x_), y(y_) {}
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int x, y;
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};
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class Vec3i
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{
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public:
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Vec3i(int x_, int y_, int z_) : x(x_), y(y_), z(z_) {}
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int x, y, z;
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};
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//------------------------------------------------------------------------
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// CUDA utilities.
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#if CR_CUDA
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# define globalThreadIdx (threadIdx.x + blockDim.x * (threadIdx.y + blockDim.y * (blockIdx.x + gridDim.x * blockIdx.y)))
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#endif
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//------------------------------------------------------------------------
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} // namespace CR
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