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>
61 lines
2.8 KiB
C
61 lines
2.8 KiB
C
// Copyright (c) 2020, 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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// Constants and helpers.
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#define RAST_CUDA_FWD_SHADER_KERNEL_BLOCK_WIDTH 8
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#define RAST_CUDA_FWD_SHADER_KERNEL_BLOCK_HEIGHT 8
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#define RAST_GRAD_MAX_KERNEL_BLOCK_WIDTH 8
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#define RAST_GRAD_MAX_KERNEL_BLOCK_HEIGHT 8
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//------------------------------------------------------------------------
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// CUDA forward rasterizer shader kernel params.
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struct RasterizeCudaFwdShaderParams
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{
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const float* pos; // Vertex positions.
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const int* tri; // Triangle indices.
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const int* in_idx; // Triangle idx buffer from rasterizer.
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float* out; // Main output buffer.
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float* out_db; // Bary pixel gradient output buffer.
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int numTriangles; // Number of triangles.
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int numVertices; // Number of vertices.
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int width_in; // Input image width.
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int height_in; // Input image height.
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int width_out; // Output image width.
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int height_out; // Output image height.
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int depth; // Size of minibatch.
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int instance_mode; // 1 if in instance rendering mode.
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float xs, xo, ys, yo; // Pixel position to clip-space x, y transform.
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};
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//------------------------------------------------------------------------
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// Gradient CUDA kernel params.
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struct RasterizeGradParams
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{
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const float* pos; // Incoming position buffer.
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const int* tri; // Incoming triangle buffer.
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const float* out; // Rasterizer output buffer.
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const float* dy; // Incoming gradients of rasterizer output buffer.
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const float* ddb; // Incoming gradients of bary diff output buffer.
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float* grad; // Outgoing position gradients.
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int numTriangles; // Number of triangles.
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int numVertices; // Number of vertices.
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int width; // Image width.
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int height; // Image height.
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int depth; // Size of minibatch.
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int instance_mode; // 1 if in instance rendering mode.
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float xs, xo, ys, yo; // Pixel position to clip-space x, y transform.
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};
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//------------------------------------------------------------------------
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