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 subprocess
+import multiprocessing as mp
+from concurrent import futures
+
+from preproc.datasets import update_args
+from preproc.export_hamer import export_sequence_results
+
+ROOT_DIR = os.path.abspath(f"{__file__}/../../../")
+SRC_DIR = os.path.join(ROOT_DIR, "third-party/hamer")
+
+def launch_hamer(gpus, seq, img_dir, res_dir, name, datatype, overwrite=False):
+    """
+    run hamer using GPU pool
+    """
+    cur_proc = mp.current_process()
+    print("PROCESS", cur_proc.name, cur_proc._identity)
+    # 1-indexed processes
+    # worker_id = cur_proc._identity[0] - 1 if len(cur_proc._identity) > 0 else 0
+    # gpu = gpus[worker_id % len(gpus)]
+    gpu = gpus[0]
+
+    HAMER_DIR = SRC_DIR
+    print("HAMER DIR", HAMER_DIR)
+
+    cmd_args = [
+        f"cd {HAMER_DIR};",
+        f"CUDA_VISIBLE_DEVICES={gpu}",
+        "python -u run.py",
+        f"--img_folder {img_dir} ",
+        f"--res_folder {res_dir}/demo_{name}.pkl ",
+        f"--batch_size=48 --side_view --save_mesh --full_frame",
+        f"--type {datatype}",
+        f"--checkpoint {ROOT_DIR}",
+        "--render"
+    ]
+
+    cmd = " ".join(cmd_args)
+    print(cmd)
+    return subprocess.call(cmd, shell=True)
+
+
+def process_seq(
+    gpus,
+    out_root,
+    seq,
+    img_dir,
+    out_name="hamer_out",
+    datatype=None,
+    track_name="track_preds",
+    shot_name="shot_idcs",
+    overwrite=False,
+):
+    """
+    Run and export HAMER results
+    """
+    name = os.path.basename(seq)
+    res_root = f"{out_root}/{out_name}/{seq}"
+    os.makedirs(res_root, exist_ok=True)
+    res_dir = os.path.join(res_root, "results")
+    res_path = f"{res_root}/{name}.pkl"
+
+    if overwrite or not os.path.isfile(res_path):
+        res = launch_hamer(gpus, seq, img_dir, res_dir, name, datatype, overwrite)
+        print(f'rename {res_dir}/demo_{name}.pkl into ', res_path)
+        os.rename(f"{res_dir}/demo_{name}.pkl", res_path)
+        assert res == 0, "HAMER FAILED"
+
+    # export the HAMER predictions
+    track_dir = f"{out_root}/{track_name}/{seq}"
+    shot_path = f"{out_root}/{shot_name}/{seq}.json"
+
+    export_sequence_results(res_path, track_dir, shot_path)
+    return 0
+
+
+def get_out_dir(src_root, src_dir, src_token, out_token):
+    """
+    :param src_root (str) root of all data
+    :param src_dir (str) img input dir
+    :param src_token (str) parent name of image input dir
+    :param out_token (str) name of output dir
+    """
+    src_suffix = src_dir.removeprefix(src_root)
+    out_dir = f"{out_root}/{src_suffix}"
+    return out_dir.replace(src_token, out_token)
+
+
+if __name__ == "__main__":
+    import argparse
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--type", default="posetrack", help="dataset to process")
+    parser.add_argument("--root", default=None, help="root dir of data, default None")
+    parser.add_argument("--split", default="val", help="split of dataset, default val")
+    parser.add_argument(
+        "--img_name", default=None, help="input image directory name, default None"
+    )
+    parser.add_argument("--seqs", nargs="*", default=None)
+    parser.add_argument("--gpus", nargs="*", default=[0])
+    parser.add_argument("-y", "--overwrite", action="store_true")
+
+    args = parser.parse_args()
+    args = update_args(args)
+
+    out_root = f"{args.root}/slahmr/{args.split}"
+
+    print(f"running phalp on {len(args.img_dirs)} image directories")
+    if len(args.gpus) > 1:
+        with futures.ProcessPoolExecutor(max_workers=len(args.gpus)) as exe:
+            for img_dir, seq in zip(args.img_dirs, args.seqs):
+                exe.submit(
+                    process_seq,
+                    args.gpus,
+                    out_root,
+                    seq,
+                    img_dir,
+                    overwrite=args.overwrite,
+                )
+    else:
+        for img_dir, seq in zip(args.img_dirs, args.seqs):
+            process_seq(args.gpus, out_root, seq, img_dir, overwrite=args.overwrite)