Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-09-15 14:13:49 +08:00
commit 7e4ef6f98b
7002 changed files with 1452249 additions and 0 deletions
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+import os
+import glob
+import pandas as pd
+from copy import deepcopy
+import warnings
+
+
+def update_args(args):
+    args = deepcopy(args)
+    if args.type == "egobody":
+        if args.root is None:
+            warnings.warn(
+                "args.root flag is set to None, using root directory in source"
+            )
+            args.root = "/path/to/egobody"
+        if args.seqs is None:
+            args.seqs = get_egobody_seqs(args.root, args.split)
+        args.img_dirs = [
+            glob.glob(f"{args.root}/egocentric_color/{seq}/**/PV")[0]
+            for seq in args.seqs
+        ]
+        return args
+
+    if args.type == "3dpw":
+        if args.root is None:
+            warnings.warn(
+                "args.root flag is set to None, using root directory in source"
+            )
+            args.root = "/path/to/3DPW"
+        if args.split == "val":
+            args.split = "validation"
+        if args.seqs is None:
+            args.seqs = get_3dpw_seqs(args.root, args.split)
+        args.img_name = "imageFiles"
+
+    elif args.type == "posetrack":
+        if args.root is None:
+            warnings.warn(
+                "args.root flag is set to None, using root directory in source"
+            )
+            args.root = "/path/to/posetrack/posetrack2018/posetrack_data"
+        args.img_name = f"images/{args.split}"
+
+    elif args.type == "davis":
+        if args.root is None:
+            warnings.warn(
+                "args.root flag is set to None, using root directory in source"
+            )
+            args.root = "/path/to/DAVIS"
+        args.img_name = "JPEGImages/Full-Resolution"
+        args.split = ""
+
+    else:
+        assert args.root is not None
+        args.img_name = args.img_name if args.img_name is not None else "images"
+        args.split = ""
+
+    args.img_dirs, args.seqs = get_all_img_dirs(
+        f"{args.root}/{args.img_name}", args.seqs
+    )
+    return args
+
+
+def isimage(f):
+    ext = os.path.splitext(f)[-1].lower()
+    return ext in [".png", ".jpg"]
+
+
+def get_all_img_dirs(data_root, seqs=None):
+    """
+    returns all image directories in root, recursively searching, and the sequence names
+    """
+    seqs = seqs if seqs is not None else []
+    img_dirs = []
+
+    def get_name(p):
+        return p.removeprefix(f"{data_root}/")
+
+    for root, _, files in os.walk(data_root):
+        num_imgs = len([f for f in files if isimage(f)])
+        if num_imgs > 0:
+            name = get_name(root)
+            if len(seqs) == 0 or name in seqs:
+                img_dirs.append(root)
+    img_dirs = sorted(img_dirs)
+    seqs = [get_name(d) for d in img_dirs]
+    return img_dirs, seqs
+
+
+def get_custom_seqs(data_root):
+    img_dir = f"{data_root}/images"
+    if not os.path.isdir(img_dir):
+        return []
+    return sorted(os.listdir(img_dir))
+
+
+def get_egobody_seqs(data_root, split):
+    split_file = f"{data_root}/data_splits.csv"
+    df = pd.read_csv(split_file)
+    if split not in df.columns:
+        print(f"{split} not in {split_file}")
+        return []
+    return sorted(df[split].dropna().tolist())
+
+
+def get_3dpw_seqs(data_root, split):
+    split_dir = f"{data_root}/sequenceFiles/{split}"
+    if not os.path.isdir(split_dir):
+        return []
+    seq_files = sorted(os.listdir(split_dir))
+    return [os.path.splitext(f)[0] for f in seq_files]
+
+
+def get_posetrack_seqs(data_root, split):
+    split_dir = f"{data_root}/images/{split}"
+    if not os.path.isdir(split_dir):
+        return []
+    return sorted(os.listdir(split_dir))
+
+
+def get_davis_seqs(data_root):
+    img_root = f"{data_root}/JPEGImages/Full-Resolution"
+    if not os.path.isdir(img_root):
+        return []
+    return sorted(os.listdir(img_root))
+
+
+def get_img_dir(data_type, data_root, seq, img_name):
+    if data_type == "posetrack":
+        return f"{data_root}/{img_name}/{seq}"
+    if data_type == "3dpw":
+        return f"{data_root}/imageFiles/{seq}"
+    if data_type == "davis":
+        return f"{data_root}/JPEGImages/Full-Resolution/{seq}"
+    if data_type == "custom":
+        return f"{data_root}/images/{seq}"  # custom sequence
+    return None