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>
79 lines
4.5 KiB
C
79 lines
4.5 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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#include "framework.h"
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//------------------------------------------------------------------------
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// Constants.
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#define TEX_DEBUG_MIP_RETAIN_VARIANCE 0 // For debugging
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#define TEX_FWD_MAX_KERNEL_BLOCK_WIDTH 8
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#define TEX_FWD_MAX_KERNEL_BLOCK_HEIGHT 8
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#define TEX_FWD_MAX_MIP_KERNEL_BLOCK_WIDTH 8
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#define TEX_FWD_MAX_MIP_KERNEL_BLOCK_HEIGHT 8
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#define TEX_GRAD_MAX_KERNEL_BLOCK_WIDTH 8
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#define TEX_GRAD_MAX_KERNEL_BLOCK_HEIGHT 8
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#define TEX_GRAD_MAX_MIP_KERNEL_BLOCK_WIDTH 8
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#define TEX_GRAD_MAX_MIP_KERNEL_BLOCK_HEIGHT 8
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#define TEX_MAX_MIP_LEVEL 16 // Currently a texture cannot be larger than 2 GB because we use 32-bit indices everywhere.
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#define TEX_MODE_NEAREST 0 // Nearest on base level.
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#define TEX_MODE_LINEAR 1 // Bilinear on base level.
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#define TEX_MODE_LINEAR_MIPMAP_NEAREST 2 // Bilinear on nearest mip level.
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#define TEX_MODE_LINEAR_MIPMAP_LINEAR 3 // Trilinear.
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#define TEX_MODE_COUNT 4
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#define TEX_BOUNDARY_MODE_CUBE 0 // Cube map mode.
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#define TEX_BOUNDARY_MODE_WRAP 1 // Wrap (u, v).
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#define TEX_BOUNDARY_MODE_CLAMP 2 // Clamp (u, v).
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#define TEX_BOUNDARY_MODE_ZERO 3 // Pad with zeros.
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#define TEX_BOUNDARY_MODE_COUNT 4
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//------------------------------------------------------------------------
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// CUDA kernel params.
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struct TextureKernelParams
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{
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const float* tex[TEX_MAX_MIP_LEVEL]; // Incoming texture buffer with mip levels.
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const float* uv; // Incoming texcoord buffer.
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const float* uvDA; // Incoming uv pixel diffs or NULL.
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const float* mipLevelBias; // Incoming mip level bias or NULL.
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const float* dy; // Incoming output gradient.
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float* out; // Outgoing texture data.
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float* gradTex[TEX_MAX_MIP_LEVEL]; // Outgoing texture gradients with mip levels.
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float* gradUV; // Outgoing texcoord gradient.
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float* gradUVDA; // Outgoing texcoord pixel differential gradient.
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float* gradMipLevelBias; // Outgoing mip level bias gradient.
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int enableMip; // If true, we have uv_da and/or mip_level_bias input(s), and a mip tensor.
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int filterMode; // One of the TEX_MODE_ constants.
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int boundaryMode; // One of the TEX_BOUNDARY_MODE_ contants.
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int texConst; // If true, texture is known to be constant.
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int mipLevelLimit; // Mip level limit coming from the op.
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int channels; // Number of texture channels.
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int imgWidth; // Image width.
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int imgHeight; // Image height.
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int texWidth; // Texture width.
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int texHeight; // Texture height.
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int texDepth; // Texture depth.
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int n; // Minibatch size.
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int mipLevelMax; // Maximum mip level index. Zero if mips disabled.
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int mipLevelOut; // Mip level being calculated in builder kernel.
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};
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//------------------------------------------------------------------------
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// C++ helper function prototypes.
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void raiseMipSizeError(const TextureKernelParams& p);
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int calculateMipInfo(TextureKernelParams& p, int* mipOffsets);
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//------------------------------------------------------------------------
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// Macros.
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#define mipLevelSize(p, i) make_int2(((p).texWidth >> (i)) > 1 ? ((p).texWidth >> (i)) : 1, ((p).texHeight >> (i)) > 1 ? ((p).texHeight >> (i)) : 1)
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//------------------------------------------------------------------------
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