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>
103 lines
4.4 KiB
C++
103 lines
4.4 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 "PrivateDefs.hpp"
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#include "Buffer.hpp"
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#include "../CudaRaster.hpp"
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namespace CR
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{
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//------------------------------------------------------------------------
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class RasterImpl
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{
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public:
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RasterImpl (void);
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~RasterImpl (void);
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void setBufferSize (Vec3i size);
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void setViewport (Vec2i size, Vec2i offset);
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void setRenderModeFlags (U32 flags) { m_renderModeFlags = flags; }
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void deferredClear (U32 color) { m_deferredClear = true; m_clearColor = color; }
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void setVertexBuffer (void* ptr, int numVertices) { m_vertexPtr = ptr; m_numVertices = numVertices; } // GPU pointer.
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void setIndexBuffer (void* ptr, int numTriangles) { m_indexPtr = ptr; m_numTriangles = numTriangles; } // GPU pointer.
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bool drawTriangles (const Vec2i* ranges, bool peel, cudaStream_t stream);
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void* getColorBuffer (void) { return m_colorBuffer.getPtr(); } // GPU pointer.
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void* getDepthBuffer (void) { return m_depthBuffer.getPtr(); } // GPU pointer.
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void swapDepthAndPeel (void);
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size_t getTotalBufferSizes (void) const;
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private:
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void launchStages (bool instanceMode, bool peel, cudaStream_t stream);
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// State.
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unsigned int m_renderModeFlags;
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bool m_deferredClear;
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unsigned int m_clearColor;
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void* m_vertexPtr;
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void* m_indexPtr;
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int m_numVertices; // Input buffer size.
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int m_numTriangles; // Input buffer size.
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size_t m_bufferSizesReported; // Previously reported buffer sizes.
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// Surfaces.
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Buffer m_colorBuffer;
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Buffer m_depthBuffer;
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Buffer m_peelBuffer;
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int m_numImages;
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Vec2i m_bufferSizePixels; // Internal buffer size.
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Vec2i m_bufferSizeVp; // Total viewport size.
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Vec2i m_sizePixels; // Internal size at which all computation is done, buffers reserved, etc.
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Vec2i m_sizeVp; // Size to which output will be cropped outside, determines viewport size.
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Vec2i m_offsetPixels; // Viewport offset for tiled rendering.
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Vec2i m_sizeBins;
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S32 m_numBins;
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Vec2i m_sizeTiles;
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S32 m_numTiles;
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// Launch sizes etc.
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S32 m_numSMs;
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S32 m_numCoarseBlocksPerSM;
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S32 m_numFineBlocksPerSM;
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S32 m_numFineWarpsPerBlock;
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// Global intermediate buffers. Individual images have offsets to these.
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Buffer m_crAtomics;
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HostBuffer m_crAtomicsHost;
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HostBuffer m_crImageParamsHost;
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Buffer m_crImageParamsExtra;
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Buffer m_triSubtris;
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Buffer m_triHeader;
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Buffer m_triData;
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Buffer m_binFirstSeg;
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Buffer m_binTotal;
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Buffer m_binSegData;
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Buffer m_binSegNext;
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Buffer m_binSegCount;
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Buffer m_activeTiles;
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Buffer m_tileFirstSeg;
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Buffer m_tileSegData;
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Buffer m_tileSegNext;
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Buffer m_tileSegCount;
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// Actual buffer sizes.
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S32 m_maxSubtris;
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S32 m_maxBinSegs;
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S32 m_maxTileSegs;
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};
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//------------------------------------------------------------------------
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} // namespace CR
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