hyperray 0.0.1__py3-none-any.whl

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/operations_cpu.h

@@ -0,0 +1,136 @@
+#include "../../version.h"
+#include "../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_OPERATIONS_CPU_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_OPERATIONS_CPU_H
+
+#include "../scene.h"
+#include "../camera.h"
+#include "../transforms.h"
+
+#include <conta/conta.h>
+
+#include <string>
+#include <limits>
+#include <algorithm>
+#include <cctype>
+#include <iostream>
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools {
+    namespace rendering::datasets{
+        inline constexpr char LOG_PREFIX[] = "#rl_tools::rendering::datasets: ";
+
+        inline bool natural_less(const std::string& a, const std::string& b){
+            size_t i = 0, j = 0;
+            while(i < a.size() && j < b.size()){
+                if(std::isdigit((unsigned char)a[i]) && std::isdigit((unsigned char)b[j])){
+                    size_t i_end = i, j_end = j;
+                    while(i_end < a.size() && std::isdigit((unsigned char)a[i_end])){
+                        i_end++;
+                    }
+                    while(j_end < b.size() && std::isdigit((unsigned char)b[j_end])){
+                        j_end++;
+                    }
+                    size_t i_num = i, j_num = j;
+                    while(i_num < i_end - 1 && a[i_num] == '0'){
+                        i_num++;
+                    }
+                    while(j_num < j_end - 1 && b[j_num] == '0'){
+                        j_num++;
+                    }
+                    const size_t i_len = i_end - i_num, j_len = j_end - j_num;
+                    if(i_len != j_len){
+                        return i_len < j_len;
+                    }
+                    const int order = a.compare(i_num, i_len, b, j_num, j_len);
+                    if(order != 0){
+                        return order < 0;
+                    }
+                    i = i_end;
+                    j = j_end;
+                }
+                else{
+                    if(a[i] != b[j]){
+                        return (unsigned char)a[i] < (unsigned char)b[j];
+                    }
+                    i++;
+                    j++;
+                }
+            }
+            return a.size() - i < b.size() - j;
+        }
+
+        // every path-valued dataset field accepts either a filesystem path or a "conta:HASH"
+        // reference; this is the single choke point that turns references into local files
+        template <typename DEVICE>
+        bool resolve_reference(DEVICE& device, const std::string& reference, std::string& path){
+            constexpr const char PREFIX[] = "conta:";
+            if(reference.rfind(PREFIX, 0) == 0){
+                std::string error;
+                if(!conta::resolve(reference.substr(sizeof(PREFIX) - 1), path, error)){
+                    log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, error);
+                    return false;
+                }
+                return true;
+            }
+            path = reference;
+            return true;
+        }
+
+        // SHA-1 hex over the file bytes: the conta identity, used verbatim as the AssetLibrary
+        // deduplication key and the per-episode scene provenance
+        template <typename DEVICE>
+        bool content_hash(DEVICE& device, const std::string& path, std::string& hex){
+            return conta::detail::sha1_file(path, hex);
+        }
+
+        template <typename DEVICE, typename T>
+        void compute_bounds(DEVICE& device, const rendering::Scene& scene, rendering::SceneMetadata<T>& metadata){
+            float bbox_min[3] = {std::numeric_limits<float>::max(), std::numeric_limits<float>::max(), std::numeric_limits<float>::max()};
+            float bbox_max[3] = {std::numeric_limits<float>::lowest(), std::numeric_limits<float>::lowest(), std::numeric_limits<float>::lowest()};
+            for(const auto& instance : scene.instances){
+                for(const auto& mesh : scene.objects[instance.object].meshes){
+                    for(size_t vertex_i = 0; vertex_i + 2 < mesh.vertices.size(); vertex_i += 3){
+                        float world[3] = {mesh.vertices[vertex_i], mesh.vertices[vertex_i + 1], mesh.vertices[vertex_i + 2]};
+                        if(!instance.identity){
+                            const float local[3] = {world[0], world[1], world[2]};
+                            rendering::transform_point(instance.transform, local, world);
+                        }
+                        for(int d = 0; d < 3; d++){
+                            bbox_min[d] = std::min(bbox_min[d], world[d]);
+                            bbox_max[d] = std::max(bbox_max[d], world[d]);
+                        }
+                    }
+                }
+            }
+            log(device, device.logger, devices::logging::Verbosity::debug, rendering::datasets::LOG_PREFIX, "Bounding box: [", bbox_min[0], ",", bbox_min[1], ",", bbox_min[2], "] - [",
+                  bbox_max[0], ",", bbox_max[1], ",", bbox_max[2], "]");
+
+            float center[3], size[3];
+            for(int d = 0; d < 3; d++){
+                center[d] = 0.5f * (bbox_min[d] + bbox_max[d]);
+                size[d] = bbox_max[d] - bbox_min[d];
+            }
+            float max_dim = std::max({size[0], size[1], size[2]});
+            // the default max ray length is the round trip to a diagonal whole-scene viewpoint —
+            // datasets with their own far-plane semantics (e.g. outdoor) overwrite it after load
+            float look_from[3] = {center[0] + max_dim * 1.5f, center[1] + max_dim * 1.5f, center[2] + max_dim * 0.8f};
+            float look_offset[3];
+            rendering::vec3::sub(look_from, center, look_offset);
+            for(int d = 0; d < 3; d++){
+                metadata.center[d] = center[d];
+                metadata.half_extent[d] = size[d] * 0.5f;
+            }
+            metadata.max_ray_length = rendering::vec3::length(look_offset) * 2.0f;
+        }
+
+        template <typename DEVICE, typename T>
+        void compute_bounds(DEVICE& device, rendering::Bundle<T>& bundle){
+            compute_bounds(device, bundle.scene, bundle.metadata);
+        }
+    }
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/procthor/catalog.h

@@ -0,0 +1,232 @@
+#include "../../../version.h"
+#include "../../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_PROCTHOR_CATALOG_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_PROCTHOR_CATALOG_H
+
+#include "procthor.h"
+#include <cstddef>
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools::rendering::datasets::procthor {
+    struct SceneReference {
+        const char* id;
+        const char* reference;
+    };
+
+    struct Train200 {
+        using LOADER = GLB;
+        using Corpus = LOADER::Corpus;
+        static constexpr const char* SEGMENTATION_TAXONOMY = LOADER::SEGMENTATION_TAXONOMY;
+        static constexpr const char* NAME = "procthor_train_200";
+        static constexpr const char* SOURCE = "ai2thor-hab/ProcTHOR";
+        static constexpr const char* SPLIT = "train";
+        static constexpr const char* REPRESENTATION = "glb";
+        inline static constexpr SceneReference SCENES[] = {
+            {"ProcTHOR-Train-0", "conta:3ee4771c22b54fa7bb57022ac2eb5a015f387b4d"},
+            {"ProcTHOR-Train-1", "conta:07b9d8e44f3891573b6292f8cc47bf7725a43b89"},
+            {"ProcTHOR-Train-2", "conta:c4d6f96bebe1ed6b3be8195b8e59f5ce283ed9ba"},
+            {"ProcTHOR-Train-3", "conta:1fc7a937fb6e1db4ea8cbc45ae87cbd374fe8481"},
+            {"ProcTHOR-Train-4", "conta:94cbdedae1413ccebea0958ca6528a19f8fc5356"},
+            {"ProcTHOR-Train-5", "conta:4047585a48a5b4a0146d5e60b4c4bd97b0893268"},
+            {"ProcTHOR-Train-6", "conta:8c279a38f88995c980c65857f49728d411577ed3"},
+            {"ProcTHOR-Train-7", "conta:1843ea6934dae8361dadf77948d6e31210799755"},
+            {"ProcTHOR-Train-8", "conta:c541d1918e99435f988f757adef57b9f8e095bc3"},
+            {"ProcTHOR-Train-9", "conta:3df2e0a5b30747554aeff62122b260118a827cd0"},
+            {"ProcTHOR-Train-10", "conta:6f85d9e6a570af83141f092762d1cb8f1899f4ed"},
+            {"ProcTHOR-Train-11", "conta:bcb4327d02ac80b4b1a7743e7eed14bd1f6a4b94"},
+            {"ProcTHOR-Train-12", "conta:42a4adb00151247e3af90da2ce3c3fd2aab9aaa5"},
+            {"ProcTHOR-Train-13", "conta:78e165ddaeb579f644dd8d8c61f98da3e93b026d"},
+            {"ProcTHOR-Train-14", "conta:1d8e3111194223777bd7d7da335cd7dd86d4420a"},
+            {"ProcTHOR-Train-15", "conta:cc4d236c5701e9143f987e861ec2b78ba76b7462"},
+            {"ProcTHOR-Train-16", "conta:7120fee4b9d6f47e63e83a0105daa69a3078b20a"},
+            {"ProcTHOR-Train-17", "conta:ddefe2b722880951f60d4c6099e2f449bee14070"},
+            {"ProcTHOR-Train-18", "conta:a9a5d2173b49b1e202cd8834b067d813e6491ca0"},
+            {"ProcTHOR-Train-19", "conta:722adf7e4345bd7020adee10049d7b69235c3621"},
+            {"ProcTHOR-Train-20", "conta:2647a925e3476c42d2e038468351379d71d6ecd2"},
+            {"ProcTHOR-Train-21", "conta:deecedc10c13b18bfcb74d48e28555190ba152a8"},
+            {"ProcTHOR-Train-22", "conta:cd7165a8ce89214dd4fb2b5d24c246706c96b7d7"},
+            {"ProcTHOR-Train-23", "conta:e0b88fdac0052e00daf15c5e7150b78e834823f9"},
+            {"ProcTHOR-Train-24", "conta:fae30d55da2f91c5ea8e5fdbb995f116580a8d83"},
+            {"ProcTHOR-Train-25", "conta:058e283b8bc56a71b4c8ca8bc661768be8691acd"},
+            {"ProcTHOR-Train-26", "conta:e5276cc2cba0c71705d464773f05d7580486dee5"},
+            {"ProcTHOR-Train-27", "conta:3f25cae62f1f1f8998526c19c7ba080fb3c79584"},
+            {"ProcTHOR-Train-28", "conta:d58c6a9b9baeee79a51d17142907286f1f9380e0"},
+            {"ProcTHOR-Train-29", "conta:398c757d16a8316d92acf5e23579e329f55dbc10"},
+            {"ProcTHOR-Train-30", "conta:ff8b3f06fd38aff500c78460f6ea6722b1887745"},
+            {"ProcTHOR-Train-31", "conta:49476bb90fe95859225d2aee65c4d47c3cddd121"},
+            {"ProcTHOR-Train-32", "conta:89f3b56934f8673cce8065f40bc885601940afdf"},
+            {"ProcTHOR-Train-33", "conta:4a32a305d0a13b2c94bfe9cbefe1409962b7bf83"},
+            {"ProcTHOR-Train-34", "conta:c8a2092221c3e916fae1e3fc97a865f2c4831501"},
+            {"ProcTHOR-Train-35", "conta:9c9a51c5b24afb1df8a39e3091bddbfdd2c0378d"},
+            {"ProcTHOR-Train-36", "conta:55462da45673a5b0b21b11d502daec708bc56295"},
+            {"ProcTHOR-Train-37", "conta:c5b3cd72e873d18728eeb82ddac7da2e4ab0fa52"},
+            {"ProcTHOR-Train-38", "conta:07762b6f0a5e28d36086f572d9786703bd8be9f0"},
+            {"ProcTHOR-Train-39", "conta:623c3473d54c0eccc86f87121d97846ff838c887"},
+            {"ProcTHOR-Train-40", "conta:f981fb0503eb9b473378a15eeb185adf2759d499"},
+            {"ProcTHOR-Train-41", "conta:83e8824c75015dae5919ebc79496215367edf910"},
+            {"ProcTHOR-Train-42", "conta:b0b01506815766e554bd020f22feb56223d47c34"},
+            {"ProcTHOR-Train-43", "conta:8f620e4cc07d7e6b7d6aee48d5b35cc47545d71e"},
+            {"ProcTHOR-Train-44", "conta:c450c0bb7fc937747b3cee3d7ae8c29b6f94cafa"},
+            {"ProcTHOR-Train-45", "conta:8a3fcdfadd17347fa80a56dd17e81920fb1be1ba"},
+            {"ProcTHOR-Train-46", "conta:09e183303da57fdbf127c0e5f99187334fe33165"},
+            {"ProcTHOR-Train-47", "conta:29b815ce2f8817649d1df9521cf44ca39a0c8f31"},
+            {"ProcTHOR-Train-48", "conta:f085c88be5b8a73f1127d18792b9539d2f439fb9"},
+            {"ProcTHOR-Train-49", "conta:03d081472d66dbc7b6816ec4cc7c3f38b2f11820"},
+            {"ProcTHOR-Train-50", "conta:430387557f4575f9c400e7a010aaa632e8a03dd9"},
+            {"ProcTHOR-Train-51", "conta:98195a1a8564e4fde68a3c087d675abccee3d64c"},
+            {"ProcTHOR-Train-52", "conta:bda58091e7c6ba9c0ab0b3f3a764ca9340c435fa"},
+            {"ProcTHOR-Train-53", "conta:e7f299637a1fd270eb57c9073a4cc54a70bddbf4"},
+            {"ProcTHOR-Train-54", "conta:702b211d5adf6f7cbab9d43a68ddd1167c9f963c"},
+            {"ProcTHOR-Train-55", "conta:146281e1881d3a52b5459ec0d4e7f11859ff86e3"},
+            {"ProcTHOR-Train-56", "conta:d1191b1d99f823b558e47563ee516475154b03e4"},
+            {"ProcTHOR-Train-57", "conta:bea1b8f0966d9371d793c612fe4e314ba9a722c0"},
+            {"ProcTHOR-Train-58", "conta:da0229f2caa395d2d5520956e7c57f6d20efb1f2"},
+            {"ProcTHOR-Train-59", "conta:10741cc13ae34278a351a70819e171add0714708"},
+            {"ProcTHOR-Train-60", "conta:bff8a0e7a62fad7d29aad52d179bfb42b85f628e"},
+            {"ProcTHOR-Train-61", "conta:eef8ddf74dbbeadedb6d4469726b041f87476525"},
+            {"ProcTHOR-Train-62", "conta:17fcc4f17937a371c96e703a7adc4f66353bfdbd"},
+            {"ProcTHOR-Train-63", "conta:944c697fd4c552e4b2cfc24e3446ed31b283e519"},
+            {"ProcTHOR-Train-64", "conta:4aee36f9f001b9d5d2c249f4dbcadf7a5658290b"},
+            {"ProcTHOR-Train-65", "conta:5f920e54391316424d19489b88af1f03492974a2"},
+            {"ProcTHOR-Train-66", "conta:2d40ed4c72ac8202c290753bea6f5c2773f433b5"},
+            {"ProcTHOR-Train-67", "conta:44e8b3666ec8f56e2c6ac3d5191da599df73faa4"},
+            {"ProcTHOR-Train-68", "conta:79c03c6660afe069c001d3900232ced4bee0e184"},
+            {"ProcTHOR-Train-69", "conta:83c1a7347ee360f95975dd67d93435561f14fca0"},
+            {"ProcTHOR-Train-70", "conta:e3af0b6863b18ffecaa4956786b8f7bc3512fade"},
+            {"ProcTHOR-Train-71", "conta:ab18d228a20a9341d5b09ae4c26827b3d2f09e08"},
+            {"ProcTHOR-Train-72", "conta:1f47fff6e6d447234af185ec1197de2381a88c2f"},
+            {"ProcTHOR-Train-73", "conta:ad2e6bd34d935df4968025e4c13cc526b5d77851"},
+            {"ProcTHOR-Train-74", "conta:48f9ae88e27e1655dd27794719d4c07a8cb53055"},
+            {"ProcTHOR-Train-75", "conta:17c5cbeafbc02af8ea985957b720609a7f471c4e"},
+            {"ProcTHOR-Train-76", "conta:88e2e20de546f9e782d1c5ec2661492c1288e380"},
+            {"ProcTHOR-Train-77", "conta:3e8e671acd33cad21b3648c5d6bc6173af8a0177"},
+            {"ProcTHOR-Train-78", "conta:e35989d86b8d638c591b5332401f4abdb7185c6d"},
+            {"ProcTHOR-Train-79", "conta:4ba957b131ae596a101fa69ae344b54ef8458f2c"},
+            {"ProcTHOR-Train-80", "conta:7d7c2a3fd11ad9080183c45473a83d33d04f08d7"},
+            {"ProcTHOR-Train-81", "conta:af3d1a9ae829f45f849dbd4f85f494c14daf4403"},
+            {"ProcTHOR-Train-82", "conta:b286ebc744e53792cf3ee8e383586d8a8b57f8f1"},
+            {"ProcTHOR-Train-83", "conta:178f4d9c4ef87265c9ca19f96a68d741b653a70e"},
+            {"ProcTHOR-Train-84", "conta:77f88d3e44cd8915100362292235ef769327056e"},
+            {"ProcTHOR-Train-85", "conta:225047dfcc9f60214ef956bb7101805198ba665a"},
+            {"ProcTHOR-Train-86", "conta:6c335de2f4b3cac1cf7920d723239f11d095a8cc"},
+            {"ProcTHOR-Train-87", "conta:658349893f3b616d2cf01d752f2f16091e481725"},
+            {"ProcTHOR-Train-88", "conta:9a482ad86f92809fff4476fc493e1bdcf9de5284"},
+            {"ProcTHOR-Train-89", "conta:2f8eb00456c1a3b309d78882bea5c148f6eef902"},
+            {"ProcTHOR-Train-90", "conta:72dbc82f2215447438e4e49dd26a30b7d99ad679"},
+            {"ProcTHOR-Train-91", "conta:474cd12a2abbf96219438b6ebbd01908efbb29f2"},
+            {"ProcTHOR-Train-92", "conta:ff49853b91c5ffca404517e9a6df27deb97b7d00"},
+            {"ProcTHOR-Train-93", "conta:f8c9ad1c8fda2cb4ea58eecd4cce2ae71675a7f3"},
+            {"ProcTHOR-Train-94", "conta:5c958545881c581917b7bfe92bee648f67674902"},
+            {"ProcTHOR-Train-95", "conta:423abc9b9ba505bd1e9b350086e40d3cf7e7dd54"},
+            {"ProcTHOR-Train-96", "conta:1ce8d9a12288a336a933746cdde5db603a588b91"},
+            {"ProcTHOR-Train-97", "conta:f9a69f4e257932bd236570824fff850ff9ed4fb0"},
+            {"ProcTHOR-Train-98", "conta:dabcabf6e66a893247ad891bfb6b1b472e1c4061"},
+            {"ProcTHOR-Train-99", "conta:bf68ba2f5dd32bdd80a79804decaa69f124c1c71"},
+            {"ProcTHOR-Train-100", "conta:6a89cb6704de904b671b72ef2b425ce55a41078e"},
+            {"ProcTHOR-Train-101", "conta:ac4b5fe8de81f2d860099d4cfadd72dcd0d3acae"},
+            {"ProcTHOR-Train-102", "conta:17e21b6dd0d8d0cbec70566d0e236ea9026f214b"},
+            {"ProcTHOR-Train-103", "conta:521bc804537faa0ffb14f2dccfc28d706356d653"},
+            {"ProcTHOR-Train-104", "conta:96f5e13491dae027347d53176895d2f51a5462f6"},
+            {"ProcTHOR-Train-105", "conta:e5752057b975202af238c357d6fcf0e8c0a466eb"},
+            {"ProcTHOR-Train-106", "conta:b320637d15e0680cba1d30d6437c1e74912cf34c"},
+            {"ProcTHOR-Train-107", "conta:5307614e4ff8bf11d8f15f161c80ef4b6202bf98"},
+            {"ProcTHOR-Train-108", "conta:689171bb70eef003087999624f4241dd4ea972e0"},
+            {"ProcTHOR-Train-109", "conta:12692b55c9a8eafd4281edf4cb2f1104781b485f"},
+            {"ProcTHOR-Train-110", "conta:960f016050847916ffa392764324bc041aa8c946"},
+            {"ProcTHOR-Train-111", "conta:3a85e4cce6361019ea96f2a484d97c51bbf4d2f7"},
+            {"ProcTHOR-Train-112", "conta:af0b192574b998bad1f24c35aee9ea7a18b6ba2d"},
+            {"ProcTHOR-Train-113", "conta:6e6117b0577ba76723294997e27cdd3f57e7ead9"},
+            {"ProcTHOR-Train-114", "conta:56be3f094f151171cb989a24925892577ce808a1"},
+            {"ProcTHOR-Train-115", "conta:1483392b0cb09b470138f17620549ac7a6e20239"},
+            {"ProcTHOR-Train-116", "conta:7c829803c619d666bd7c903304a91b00c47d9339"},
+            {"ProcTHOR-Train-117", "conta:776583174ef8499f5b8a89eff8ebbf1d0e01567e"},
+            {"ProcTHOR-Train-118", "conta:b24c300a05503129819461c9dc7e21c6af6036f4"},
+            {"ProcTHOR-Train-119", "conta:e63a0c2420e277ef17c2f8286a9ccec80f51283f"},
+            {"ProcTHOR-Train-120", "conta:27d9c8ae392652a35b3a6d2c3b8eb063e4e83e21"},
+            {"ProcTHOR-Train-121", "conta:fd2eeaa7f3061e7addc12dc282f3eedea791f015"},
+            {"ProcTHOR-Train-122", "conta:7af9d3e2e4e13ac175f125b374be810ccae0f4e6"},
+            {"ProcTHOR-Train-123", "conta:860d1d26fc90721271dca17c0921d6de5837e7ef"},
+            {"ProcTHOR-Train-124", "conta:c5b52ef331d53f34f2881d5c75d325b4e9dfa158"},
+            {"ProcTHOR-Train-125", "conta:ce1a895f951a0cd47bf5114174ad3df243b18d4f"},
+            {"ProcTHOR-Train-126", "conta:af8b85bc4c6db5fade791a069737c16c775ab899"},
+            {"ProcTHOR-Train-127", "conta:66a2c891dac51fd225990103050be583406fc4c8"},
+            {"ProcTHOR-Train-128", "conta:3559ff915a317f8fc81f3843973ac6394f7dc3f9"},
+            {"ProcTHOR-Train-129", "conta:91c64274a74d7c9b03f878f0ecc19004e98fb152"},
+            {"ProcTHOR-Train-130", "conta:8c44a738481e495f9bd3479bf921daf64452b50c"},
+            {"ProcTHOR-Train-131", "conta:72c7caae42afe3746bd1b90ca5b5fe0c6556d516"},
+            {"ProcTHOR-Train-132", "conta:b63f1abd1d202f20e634dd9d605a03371a819eb5"},
+            {"ProcTHOR-Train-133", "conta:1cd6fd4ce7f6b614e6f539c38e6b516533ba9fba"},
+            {"ProcTHOR-Train-134", "conta:21de2bdec8c3f54a2602ea6c17632d1f543c3664"},
+            {"ProcTHOR-Train-135", "conta:be9fcd5c98676acfd4884daf5cb56e431fe31912"},
+            {"ProcTHOR-Train-136", "conta:9c411ff877332cc20460fbeac314eed7151cd87e"},
+            {"ProcTHOR-Train-137", "conta:8ffcbf0c375223b5126b491dcbf0de4a6cd9f926"},
+            {"ProcTHOR-Train-138", "conta:50cee9ebdeeaf9c427021e0ae9ae8462f43bb215"},
+            {"ProcTHOR-Train-139", "conta:077b4993aa1632650dd16c1c1c57812117cb31b2"},
+            {"ProcTHOR-Train-140", "conta:587d566b5c67c7ff11755622a444d41cceed376e"},
+            {"ProcTHOR-Train-141", "conta:3843930a72f3f94d4aae7d9be5ddd6b286b71996"},
+            {"ProcTHOR-Train-142", "conta:c855e58d121cd191099f2c372070dc6a3e21a1c0"},
+            {"ProcTHOR-Train-143", "conta:677af85cb35887c7a9b5d381fac556c1d2ceb04d"},
+            {"ProcTHOR-Train-144", "conta:a82bf99488c530235c66029b77c6be3164ff9ffe"},
+            {"ProcTHOR-Train-145", "conta:14e407c833226ada1c1f9e26db664d4a317055db"},
+            {"ProcTHOR-Train-146", "conta:9c5f258ea8c67adc71ea8ea3cf98bf745537743f"},
+            {"ProcTHOR-Train-147", "conta:8ac87bb271fdd6c467e6eafafe515304fb2272cd"},
+            {"ProcTHOR-Train-148", "conta:83da010726c67f2a8c0e20c1d3385a4adaae594a"},
+            {"ProcTHOR-Train-149", "conta:fa7d2191b8eefee8c4b6aa61d763a9ab5b515521"},
+            {"ProcTHOR-Train-150", "conta:8fe5f003c4e3fb53061f414a8fb2e9ea63b3f3e4"},
+            {"ProcTHOR-Train-151", "conta:e3e0ad37f99fdd17ef097749bf3b00b7ba74e93c"},
+            {"ProcTHOR-Train-152", "conta:919ce54458bd72b83d114a957db19d3b18720a3f"},
+            {"ProcTHOR-Train-153", "conta:145d391d190e7b2fab8a28bbd78a4d5698f843dc"},
+            {"ProcTHOR-Train-154", "conta:ed4ae760b57526bda4a0edcf3e664e6b6aef155a"},
+            {"ProcTHOR-Train-155", "conta:088af50852413df40bd2dbd03d44a5e90fe7c646"},
+            {"ProcTHOR-Train-156", "conta:1180eecb3d67349d9353edc8f18747ae7aa4a90f"},
+            {"ProcTHOR-Train-157", "conta:18d0d1cd627038f9005d8f197ee8090f43959c17"},
+            {"ProcTHOR-Train-158", "conta:096985edcdbf16576cd7908d47b3568833fdcd64"},
+            {"ProcTHOR-Train-159", "conta:d68ec04dcdcdd6bff22ead8d4f59d34e429b4dea"},
+            {"ProcTHOR-Train-160", "conta:a757c704b142746973811dbd2a9d1797342d984c"},
+            {"ProcTHOR-Train-161", "conta:f9925c9c550c53785ad932a4572ea6502f7c3754"},
+            {"ProcTHOR-Train-162", "conta:21901dc4c9c01a6cec4cc0f23d6d041e33148787"},
+            {"ProcTHOR-Train-163", "conta:3fc8e8aa5a00169d34a882f459efa3683179b995"},
+            {"ProcTHOR-Train-164", "conta:7e569666d8f696591900fbc7e02f524a73182744"},
+            {"ProcTHOR-Train-165", "conta:8022b8c39faf4597dfea91f45e20e0106ec6eb52"},
+            {"ProcTHOR-Train-166", "conta:8f168ba03437952e909460e54d47fb41352c068d"},
+            {"ProcTHOR-Train-167", "conta:a2e904e988e3a32da7eaf78e195076e4f69f7faa"},
+            {"ProcTHOR-Train-168", "conta:05037b7889eff92ab3e9c353409bda9fbf77a721"},
+            {"ProcTHOR-Train-169", "conta:5fbbebcf3d8a56a31c6b48b1773ec4e48248f096"},
+            {"ProcTHOR-Train-170", "conta:23c890af82975a56993eecd583eae294dcbb2283"},
+            {"ProcTHOR-Train-171", "conta:8b3150aba1da9946c652e2b286e3fb7b71301ed6"},
+            {"ProcTHOR-Train-172", "conta:f5311bb0df50fc8a950e83c3184f4a337a0489f1"},
+            {"ProcTHOR-Train-173", "conta:70d2664ffcff7682e9836ef1861d84eda92c8e83"},
+            {"ProcTHOR-Train-174", "conta:96e90765e700afe1736bc863f06f0c1be35a4393"},
+            {"ProcTHOR-Train-175", "conta:e7f449fdd29f5ce7352f5ea43a42b92817f918e3"},
+            {"ProcTHOR-Train-176", "conta:6253a339e488f7c2151170bbbf54763363651d3a"},
+            {"ProcTHOR-Train-177", "conta:2c70da0683eee39059a5236825c89a6b8a791d47"},
+            {"ProcTHOR-Train-178", "conta:d68f17d64b002b5f1f2cf30faa23b9c2fd9c16f5"},
+            {"ProcTHOR-Train-179", "conta:daec3c8790538308fa6ea54fd71c2edf53e0ef46"},
+            {"ProcTHOR-Train-180", "conta:c0589f0e0d97ec944224d0ca93994eac36b2f3db"},
+            {"ProcTHOR-Train-181", "conta:ba2ed10d3753906b226188abadd652055b14289a"},
+            {"ProcTHOR-Train-182", "conta:15aee8e895071272e384eb2dfecbf5b5d7625c24"},
+            {"ProcTHOR-Train-183", "conta:e0250aab5a635efecca1fef14f6e5f298a4c3145"},
+            {"ProcTHOR-Train-184", "conta:4200e6c64f398cdbca99006601d99a1fdbd163ca"},
+            {"ProcTHOR-Train-185", "conta:c04b4defa803195e706a581734b28dbf07fceca8"},
+            {"ProcTHOR-Train-186", "conta:0bc918ee9d5dc0847f556ca58298517da0e0384c"},
+            {"ProcTHOR-Train-187", "conta:d953191c7274f86c9d297345848574a580beeedb"},
+            {"ProcTHOR-Train-188", "conta:b4e8d499e5a7b14df6bd6d6f4df44df7ff7a1e47"},
+            {"ProcTHOR-Train-189", "conta:774573742f67f8cfaf401a13cfb06873d15b78c7"},
+            {"ProcTHOR-Train-190", "conta:02f09a314560f2aa69fc4de3d35c28b9f0b6061d"},
+            {"ProcTHOR-Train-191", "conta:d35052a6cb117461ce4fa5faa168a29c0d9eabba"},
+            {"ProcTHOR-Train-192", "conta:542d5bd2e2869de91ce607fda350636db5d83436"},
+            {"ProcTHOR-Train-193", "conta:8d2b0ad182904c6f6709d65d2b9151b8489d95a7"},
+            {"ProcTHOR-Train-194", "conta:c0a48a56f726c95159578ea702bab7aa827b10d3"},
+            {"ProcTHOR-Train-195", "conta:77ff1a031d86a3fad7fb85b0a512eb52f1fdf643"},
+            {"ProcTHOR-Train-196", "conta:64295e630b3dcd0236908235a06a85946a1434b2"},
+            {"ProcTHOR-Train-197", "conta:66cb13ccc395ff23cd607ddb18864be46d568a76"},
+            {"ProcTHOR-Train-198", "conta:5a97856eb9bbc017f3dfe86c0a9047d46a3ea7c1"},
+            {"ProcTHOR-Train-199", "conta:3f922f3ea8ba93dc3051bac27ac37653ffe0a5a2"},
+        };
+        static constexpr std::size_t NUM_SCENES = sizeof(SCENES) / sizeof(SCENES[0]);
+    };
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/procthor/conversion.h

@@ -0,0 +1,33 @@
+#include "../../../version.h"
+#include "../../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_PROCTHOR_CONVERSION_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_PROCTHOR_CONVERSION_H
+
+#include <string>
+
+// scene_instance.json (ai2thor-hab / HSSD) → self-contained GLB conversion. Declaration-only:
+// the implementation is the rl_tools_procthor_conversion library (src/rendering/procthor2glb/)
+// with its heavy dependencies (tinygltf, basisu, stb) — targets using the AI2ThorHab dataset
+// source (or the procthor2glb CLI) link it.
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools::rendering::datasets::procthor::conversion {
+    // part of the loader's conversion-cache key: bump on any change to the conversion output
+    inline constexpr int VERSION = 6;
+
+    enum class Dataset { AI2THOR_HAB, HSSD };
+
+    struct Options {
+        std::string scene_instance_path;
+        std::string output_glb_path;          // empty: <scene_name>.glb next to the working directory
+        bool normalize = false;               // decode KTX2, dequantize meshes, bake texture transforms
+        Dataset dataset = Dataset::AI2THOR_HAB;
+        std::string hssd_lighting_path;       // explicit HSSD lighting JSON instead of scene default_lighting
+    };
+
+    bool semantic_source(const Options& options, std::string& source, std::string& error);
+    bool scene_instance_to_glb(const Options& options, std::string& error);
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/procthor/operations_cpu.h

@@ -0,0 +1,123 @@
+#include "../../../version.h"
+#include "../../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_PROCTHOR_OPERATIONS_CPU_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_PROCTHOR_OPERATIONS_CPU_H
+
+#include "procthor.h"
+#include "catalog.h"
+#include "conversion.h"
+#include "../operations_cpu.h"
+#include "../glb/operations_cpu.h"
+
+#include <algorithm>
+#include <cctype>
+#include <cstdlib>
+#if !defined(_WIN32)
+#include <unistd.h>
+#endif
+#include <filesystem>
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools::rendering::datasets::procthor {
+    template <typename DEVICE>
+    void enumerate(DEVICE& device, const GLB& dataset, Corpus& corpus) {
+        using rl_tools::enumerate;
+        enumerate(device, rendering::datasets::glb::Dataset{dataset.directory, dataset.references}, corpus);
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T, typename MODE = mode::Default<>>
+    bool load(DEVICE& device, const GLB& dataset, const Corpus& corpus, size_t index, rendering::Bundle<T>& bundle, const Mode<MODE>& mode = Mode<MODE>{}) {
+        utils::assert_exit(device, index < corpus.references.size(), "datasets::procthor: corpus index out of range");
+        using rl_tools::load;
+        return load<SHADING, HAS_RGB>(device, bundle, corpus.references[index], mode);
+    }
+
+
+    template <typename DEVICE>
+    void enumerate(DEVICE& device, const AI2ThorHab& dataset, Corpus& corpus) {
+        corpus.references.clear();
+        const std::string prefix = "ProcTHOR-" + dataset.split + "-";
+        const std::string suffix = ".scene_instance.json";
+        const std::filesystem::path scenes_root = std::filesystem::path(dataset.root) / "configs" / "scenes" / "ProcTHOR";
+        utils::assert_exit(device, std::filesystem::is_directory(scenes_root), "datasets::procthor::AI2ThorHab: configs/scenes/ProcTHOR not found under root");
+        for (const auto& entry : std::filesystem::recursive_directory_iterator(scenes_root)) {
+            if (!entry.is_regular_file()) {
+                continue;
+            }
+            const std::string filename = entry.path().filename().string();
+            if (filename.rfind(prefix, 0) == 0 && filename.size() > suffix.size() && filename.compare(filename.size() - suffix.size(), suffix.size(), suffix) == 0) {
+                corpus.references.push_back(entry.path().string());
+            }
+        }
+        std::sort(corpus.references.begin(), corpus.references.end(), rendering::datasets::natural_less);
+        utils::assert_exit(device, !corpus.references.empty(), "datasets::procthor::AI2ThorHab: no scene_instance.json files found for split");
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T, typename MODE = mode::Default<>>
+    bool load(DEVICE& device, const AI2ThorHab& dataset, const Corpus& corpus, size_t index, rendering::Bundle<T>& bundle, const Mode<MODE>& mode = Mode<MODE>{}) {
+        utils::assert_exit(device, index < corpus.references.size(), "datasets::procthor: corpus index out of range");
+        const std::string& source = corpus.references[index];
+        std::string source_hash;
+        utils::assert_exit(device, rendering::datasets::content_hash(device, source, source_hash), "datasets::procthor::AI2ThorHab: failed to hash scene_instance");
+        conversion::Options semantic_options;
+        semantic_options.scene_instance_path = source;
+        std::string semantic_source, semantic_error;
+        if(!conversion::semantic_source(semantic_options, semantic_source, semantic_error)){
+            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, semantic_error);
+            return false;
+        }
+        conta::detail::Sha1 fingerprint;
+        fingerprint.update(reinterpret_cast<const unsigned char*>(source_hash.data()), source_hash.size());
+        fingerprint.update(reinterpret_cast<const unsigned char*>(semantic_source.data()), semantic_source.size());
+        source_hash = fingerprint.finalize();
+        std::string cache_directory = dataset.cache_directory;
+        if (cache_directory.empty()) {
+            const char* home = std::getenv("HOME");
+            cache_directory = (home != nullptr ? std::string(home) + "/.cache" : std::string(".")) + "/rl_tools/procthor_glb";
+        }
+        std::filesystem::create_directories(cache_directory);
+        std::string scene_name = std::filesystem::path(source).stem().string();
+        const std::string scene_instance_suffix = ".scene_instance";
+        if(scene_name.size() > scene_instance_suffix.size() && scene_name.compare(scene_name.size() - scene_instance_suffix.size(), scene_instance_suffix.size(), scene_instance_suffix) == 0){
+            scene_name = scene_name.substr(0, scene_name.size() - scene_instance_suffix.size());
+        }
+        const std::string cache_path = cache_directory + "/" + scene_name + "-" + source_hash + "-v" + std::to_string(conversion::VERSION) + (dataset.normalize ? "" : "-raw") + ".glb";
+        if (!std::filesystem::exists(cache_path)) {
+            log(device, device.logger, devices::logging::Verbosity::info, rendering::datasets::LOG_PREFIX, "procthor::AI2ThorHab: converting ", scene_name, " -> ", cache_path);
+            conversion::Options options;
+            options.scene_instance_path = source;
+            options.output_glb_path = cache_path + ".part." + std::to_string(::getpid()); // pid-unique: concurrent loaders converting the same scene must not share a temp file
+            options.normalize = dataset.normalize;
+            std::string error;
+            const bool converted = conversion::scene_instance_to_glb(options, error);
+            if (!converted) {
+                log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "procthor::AI2ThorHab: conversion failed: ", error);
+                return false;
+            }
+            std::filesystem::rename(options.output_glb_path, cache_path);
+        }
+        using rl_tools::load;
+        return load<SHADING, HAS_RGB>(device, bundle, cache_path, mode);
+    }
+}
+namespace rl_tools {
+    template <typename DEVICE>
+    void enumerate(DEVICE&, const rendering::datasets::procthor::Train200&, rendering::datasets::procthor::Train200::Corpus& corpus) {
+        using DATASET = rendering::datasets::procthor::Train200;
+        corpus.references.clear();
+        corpus.references.reserve(DATASET::NUM_SCENES);
+        for (const auto& scene : DATASET::SCENES) {
+            corpus.references.emplace_back(scene.reference);
+        }
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T, typename MODE = mode::Default<>>
+    bool load(DEVICE& device, const rendering::datasets::procthor::Train200&, const rendering::datasets::procthor::Train200::Corpus& corpus, size_t index, rendering::Bundle<T>& bundle, const Mode<MODE>& mode = Mode<MODE>{}) {
+        using LOADER = rendering::datasets::procthor::Train200::LOADER;
+        return load<SHADING, HAS_RGB>(device, LOADER{}, corpus, index, bundle, mode);
+    }
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/procthor/procthor.h

@@ -0,0 +1,39 @@
+#include "../../../version.h"
+#include "../../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_PROCTHOR_PROCTHOR_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_PROCTHOR_PROCTHOR_H
+
+#include "../glb/glb.h"
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools::rendering::datasets::procthor {
+    // pre-converted corpus: GLBs. Sources are references (paths or conta:HASH);
+    // an explicit reference list wins, otherwise the directory is enumerated as a
+    // naturally sorted .glb listing so the corpus is filesystem-order independent.
+    using Corpus = glb::Corpus;
+
+    struct GLB {
+        using Corpus = procthor::Corpus;
+        static constexpr const char* SEGMENTATION_TAXONOMY = "ai2thor-hab";
+        std::string directory;
+        std::vector<std::string> references;
+    };
+
+    // ProcTHOR proper: the raw ai2thor-hab checkout. Scenes are converted through the
+    // rl_tools_procthor_conversion library on first load and cached as GLBs (keyed by source
+    // content hash + converter version, laid out as conta-addressable blobs) — targets using
+    // this source must link rl_tools_procthor_conversion.
+    struct AI2ThorHab {
+        using Corpus = procthor::Corpus;
+        static constexpr const char* SEGMENTATION_TAXONOMY = "ai2thor-hab";
+        std::string root;               // the directory containing configs/ (e.g. .../ai2thor-hab/ai2thor-hab)
+        std::string split = "Train";    // filename filter: ProcTHOR-<split>-*.scene_instance.json
+        std::string cache_directory;    // converted-GLB cache; default: ~/.cache/rl_tools/procthor_glb (dataset roots are often read-only mounts)
+        bool normalize = true;          // the pre-converted corpora were produced with --normalize
+    };
+
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif