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>
105 lines
3.0 KiB
C++
105 lines
3.0 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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#include "framework.h"
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#include "texture.h"
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//------------------------------------------------------------------------
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// Mip stack construction and access helpers.
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void raiseMipSizeError(const TextureKernelParams& p)
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{
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char buf[1024];
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int bufsz = 1024;
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std::string msg = "Mip-map size error - cannot downsample an odd extent greater than 1. Resize the texture so that both spatial extents are powers of two, or limit the number of mip maps using max_mip_level argument.\n";
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int w = p.texWidth;
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int h = p.texHeight;
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bool ew = false;
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bool eh = false;
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msg += "Attempted mip stack construction:\n";
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msg += "level width height\n";
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msg += "----- ----- ------\n";
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snprintf(buf, bufsz, "base %5d %5d\n", w, h);
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msg += buf;
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int mipTotal = 0;
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int level = 0;
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while ((w|h) > 1 && !(ew || eh)) // Stop at first impossible size.
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{
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// Current level.
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level += 1;
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// Determine if downsampling fails.
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ew = ew || (w > 1 && (w & 1));
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eh = eh || (h > 1 && (h & 1));
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// Downsample.
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if (w > 1) w >>= 1;
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if (h > 1) h >>= 1;
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// Append level size to error message.
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snprintf(buf, bufsz, "mip %-2d ", level);
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msg += buf;
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if (ew) snprintf(buf, bufsz, " err ");
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else snprintf(buf, bufsz, "%5d ", w);
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msg += buf;
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if (eh) snprintf(buf, bufsz, " err\n");
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else snprintf(buf, bufsz, "%5d\n", h);
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msg += buf;
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}
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NVDR_CHECK(0, msg);
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}
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int calculateMipInfo(TextureKernelParams& p, int* mipOffsets)
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{
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// No levels at all?
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if (p.mipLevelLimit == 0)
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{
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p.mipLevelMax = 0;
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return 0;
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}
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// Current level size.
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int w = p.texWidth;
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int h = p.texHeight;
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int mipTotal = 0;
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int level = 0;
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int c = (p.boundaryMode == TEX_BOUNDARY_MODE_CUBE) ? (p.channels * 6) : p.channels;
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mipOffsets[0] = 0;
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while ((w|h) > 1)
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{
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// Current level.
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level += 1;
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// Quit if cannot downsample.
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if ((w > 1 && (w & 1)) || (h > 1 && (h & 1)))
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raiseMipSizeError(p);
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// Downsample.
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if (w > 1) w >>= 1;
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if (h > 1) h >>= 1;
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mipOffsets[level] = mipTotal; // Store the mip offset (#floats).
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mipTotal += w * h * p.texDepth * c;
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// Hit the level limit?
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if (p.mipLevelLimit >= 0 && level == p.mipLevelLimit)
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break;
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}
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p.mipLevelMax = level;
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return mipTotal;
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}
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//------------------------------------------------------------------------
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