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>
74 lines
6.9 KiB
C++
74 lines
6.9 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 "torch_common.inl"
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#include "torch_types.h"
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#include <tuple>
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//------------------------------------------------------------------------
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// Op prototypes. Return type macros for readability.
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#define OP_RETURN_T torch::Tensor
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#define OP_RETURN_TT std::tuple<torch::Tensor, torch::Tensor>
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#define OP_RETURN_TTT std::tuple<torch::Tensor, torch::Tensor, torch::Tensor>
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#define OP_RETURN_TTTT std::tuple<torch::Tensor, torch::Tensor, torch::Tensor, torch::Tensor>
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#define OP_RETURN_TTV std::tuple<torch::Tensor, torch::Tensor, std::vector<torch::Tensor> >
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#define OP_RETURN_TTTTV std::tuple<torch::Tensor, torch::Tensor, torch::Tensor, torch::Tensor, std::vector<torch::Tensor> >
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OP_RETURN_TT rasterize_fwd_cuda (RasterizeCRStateWrapper& stateWrapper, torch::Tensor pos, torch::Tensor tri, std::tuple<int, int> resolution, torch::Tensor ranges, int peeling_idx);
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OP_RETURN_T rasterize_grad (torch::Tensor pos, torch::Tensor tri, torch::Tensor out, torch::Tensor dy);
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OP_RETURN_T rasterize_grad_db (torch::Tensor pos, torch::Tensor tri, torch::Tensor out, torch::Tensor dy, torch::Tensor ddb);
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OP_RETURN_TT interpolate_fwd (torch::Tensor attr, torch::Tensor rast, torch::Tensor tri);
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OP_RETURN_TT interpolate_fwd_da (torch::Tensor attr, torch::Tensor rast, torch::Tensor tri, torch::Tensor rast_db, bool diff_attrs_all, std::vector<int>& diff_attrs_vec);
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OP_RETURN_TT interpolate_grad (torch::Tensor attr, torch::Tensor rast, torch::Tensor tri, torch::Tensor dy);
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OP_RETURN_TTT interpolate_grad_da (torch::Tensor attr, torch::Tensor rast, torch::Tensor tri, torch::Tensor dy, torch::Tensor rast_db, torch::Tensor dda, bool diff_attrs_all, std::vector<int>& diff_attrs_vec);
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TextureMipWrapper texture_construct_mip (torch::Tensor tex, int max_mip_level, bool cube_mode);
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OP_RETURN_T texture_fwd (torch::Tensor tex, torch::Tensor uv, int filter_mode, int boundary_mode);
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OP_RETURN_T texture_fwd_mip (torch::Tensor tex, torch::Tensor uv, torch::Tensor uv_da, torch::Tensor mip_level_bias, TextureMipWrapper mip_wrapper, std::vector<torch::Tensor> mip_stack, int filter_mode, int boundary_mode);
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OP_RETURN_T texture_grad_nearest (torch::Tensor tex, torch::Tensor uv, torch::Tensor dy, int filter_mode, int boundary_mode);
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OP_RETURN_TT texture_grad_linear (torch::Tensor tex, torch::Tensor uv, torch::Tensor dy, int filter_mode, int boundary_mode);
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OP_RETURN_TTV texture_grad_linear_mipmap_nearest (torch::Tensor tex, torch::Tensor uv, torch::Tensor dy, torch::Tensor uv_da, torch::Tensor mip_level_bias, TextureMipWrapper mip_wrapper, std::vector<torch::Tensor> mip_stack, int filter_mode, int boundary_mode);
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OP_RETURN_TTTTV texture_grad_linear_mipmap_linear (torch::Tensor tex, torch::Tensor uv, torch::Tensor dy, torch::Tensor uv_da, torch::Tensor mip_level_bias, TextureMipWrapper mip_wrapper, std::vector<torch::Tensor> mip_stack, int filter_mode, int boundary_mode);
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TopologyHashWrapper antialias_construct_topology_hash (torch::Tensor tri);
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OP_RETURN_TT antialias_fwd (torch::Tensor color, torch::Tensor rast, torch::Tensor pos, torch::Tensor tri, TopologyHashWrapper topology_hash);
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OP_RETURN_TT antialias_grad (torch::Tensor color, torch::Tensor rast, torch::Tensor pos, torch::Tensor tri, torch::Tensor dy, torch::Tensor work_buffer);
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//------------------------------------------------------------------------
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PYBIND11_MODULE(TORCH_EXTENSION_NAME, m) {
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// State classes.
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pybind11::class_<RasterizeCRStateWrapper>(m, "RasterizeCRStateWrapper").def(pybind11::init<int>());
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pybind11::class_<TextureMipWrapper>(m, "TextureMipWrapper").def(pybind11::init<>());
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pybind11::class_<TopologyHashWrapper>(m, "TopologyHashWrapper");
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// Plumbing to torch/c10 logging system.
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m.def("get_log_level", [](void) { return FLAGS_caffe2_log_level; }, "get log level");
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m.def("set_log_level", [](int level){ FLAGS_caffe2_log_level = level; }, "set log level");
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// Ops.
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m.def("rasterize_fwd_cuda", &rasterize_fwd_cuda, "rasterize forward op (cuda)");
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m.def("rasterize_grad", &rasterize_grad, "rasterize gradient op ignoring db gradients");
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m.def("rasterize_grad_db", &rasterize_grad_db, "rasterize gradient op with db gradients");
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m.def("interpolate_fwd", &interpolate_fwd, "interpolate forward op with attribute derivatives");
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m.def("interpolate_fwd_da", &interpolate_fwd_da, "interpolate forward op without attribute derivatives");
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m.def("interpolate_grad", &interpolate_grad, "interpolate gradient op with attribute derivatives");
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m.def("interpolate_grad_da", &interpolate_grad_da, "interpolate gradient op without attribute derivatives");
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m.def("texture_construct_mip", &texture_construct_mip, "texture mipmap construction");
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m.def("texture_fwd", &texture_fwd, "texture forward op without mipmapping");
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m.def("texture_fwd_mip", &texture_fwd_mip, "texture forward op with mipmapping");
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m.def("texture_grad_nearest", &texture_grad_nearest, "texture gradient op in nearest mode");
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m.def("texture_grad_linear", &texture_grad_linear, "texture gradient op in linear mode");
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m.def("texture_grad_linear_mipmap_nearest", &texture_grad_linear_mipmap_nearest, "texture gradient op in linear-mipmap-nearest mode");
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m.def("texture_grad_linear_mipmap_linear", &texture_grad_linear_mipmap_linear, "texture gradient op in linear-mipmap-linear mode");
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m.def("antialias_construct_topology_hash", &antialias_construct_topology_hash, "antialias topology hash construction");
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m.def("antialias_fwd", &antialias_fwd, "antialias forward op");
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m.def("antialias_grad", &antialias_grad, "antialias gradient op");
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}
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//------------------------------------------------------------------------
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