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 json
+import numpy as np
+
+import subprocess
+from concurrent import futures
+import multiprocessing as mp
+
+from preproc.datasets import update_args
+
+
+SRC_DIR = os.path.abspath(f"{__file__}/../")
+
+
+def isimage(path):
+    ext = os.path.splitext(path)[-1].lower()
+    return ext == ".png" or ext == ".jpg" or ext == ".jpeg"
+
+
+def split_frames_equal(img_dir, seq_len=-1):
+    """
+    split the sequence into subsequences of seq_len
+    returns start and end indices for each subsequence
+    """
+    if seq_len == -1:  # don't split
+        return [(0, -1)]
+
+    image_list = sorted(list(filter(isimage, os.listdir(img_dir))))
+    num_imgs = len(image_list)
+    splits = list(range(0, num_imgs, seq_len))
+    splits[-1] = num_imgs  # add remainder to last subseq
+    return list(zip(splits[:-1], splits[1:]))
+
+
+def split_frames_shots(img_dir, shot_path, pad_shot=0, min_len=0):
+    """
+    split the sequence into subsequences according by shots in the video
+    returns start and end indices for each subsequence
+    """
+    if shot_path is None or not os.path.isfile(shot_path):
+        print(f"{shot_path} DOES NOT EXIST, USING WHOLE SEQUENCE")
+        return [(0, -1)], [0]
+
+    image_list = sorted(list(filter(isimage, os.listdir(img_dir))))#[:500]
+    num_frames = len(image_list)
+
+    with open(shot_path, "r") as f:
+        shot_dict = json.load(f)
+
+    # print(shot_dict.keys())
+    shot_idcs = np.array([shot_dict[name] for name in image_list])
+    subseqs = []
+    for i in np.unique(shot_idcs):
+        idcs = np.where(shot_idcs == i)[0]
+        start, end = idcs.min(), idcs.max() + 1
+        if pad_shot > 0:
+            if start > 0:
+                start = start + pad_shot
+            if end < num_frames:
+                end = end - pad_shot
+            if (end - start) < min_len:  # this shot is too short
+                continue
+        subseqs.append((start, end))
+    return subseqs, np.unique(shot_idcs)
+
+
+def split_sequence(args, img_dir, seq):
+    subseqs = split_frames_equal(img_dir, args.seq_len)
+    return subseqs, [None for _ in subseqs]
+
+
+def get_out_dir(args, seq, shot_idx=None, start=0, end=-1):
+    if "egobody" in args.type or "3dpw" in args.type:
+        if args.use_intrins:
+            out_name = "cameras_intrins"
+        else:
+            out_name = "cameras_default"
+    else:
+        out_name = "cameras"
+
+    if args.seq_len > 0:
+        out_name = f"{out_name}_split"
+
+    out_dir = f"{args.root}/slahmr/{args.split}/{out_name}/{seq}"
+
+    if args.seq_len > 0:
+        return f"{out_dir}/{start}-{end}"
+
+    if args.type == "posetrack" and shot_idx is not None:
+        return f"{out_dir}/shot-{shot_idx}"
+
+    return out_dir
+
+
+def get_intrins_path(data_type, data_root, seq):
+    raise NotImplementedError
+
+
+def get_command(img_dir, out_dir, start=0, end=-1, intrins_path=None, overwrite=False):
+    cmd_args = [
+        f"python {SRC_DIR}/run_slam.py",
+        "-i",
+        img_dir,
+        "--map_dir",
+        out_dir,
+        "--disable_vis",
+    ]
+    if start != 0:
+        cmd_args += ["--start", str(start)]
+    if end != -1:
+        cmd_args += ["--end", str(end)]
+
+    if intrins_path is not None:
+        cmd_args += ["--intrins_path", intrins_path]
+
+    if overwrite:
+        cmd_args.append("--overwrite")
+
+    cmd = " ".join(cmd_args)
+    return cmd
+
+
+def check_intrins(data_type, data_root, intrins_path, img_dir):
+    assert intrins_path is not None
+    out_name = intrins_path.split(data_root)[1].strip("/").split("/")[0]
+    out_root = f"{data_root}/{out_name}"
+    return intrins_path
+
+
+def get_slam_command(args, img_dir, seq, shot_idx=None, start=0, end=-1):
+    out_dir = get_out_dir(args, seq, shot_idx, start, end)
+    intrins_path = None
+    if args.use_intrins:
+        intrins_path = get_intrins_path(args.type, args.root, seq)
+        if intrins_path is not None:
+            intrins_path = check_intrins(args.type, args.root, intrins_path, img_dir)
+    return get_command(
+        img_dir,
+        out_dir,
+        start=start,
+        end=end,
+        intrins_path=intrins_path,
+        overwrite=args.overwrite,
+    )
+
+
+def launch_job(gpus, cmd):
+    cur_proc = mp.current_process()
+    print(cur_proc.name, cur_proc._identity)
+    worker_id = cur_proc._identity[0] - 1
+    gpu = gpus[worker_id % len(gpus)]
+    cmd = f"CUDA_VISIBLE_DEVICES={gpu} {cmd}"
+    print(cmd)
+    subprocess.call(cmd, shell=True)
+
+
+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 of data to process, default None"
+    )
+    parser.add_argument(
+        "--split", default="val", help="split of dataset to process, default val"
+    )
+    parser.add_argument("--gpus", nargs="*", default=[0])
+    parser.add_argument("--seqs", nargs="*", default=None)
+    parser.add_argument("--seq_len", type=int, default=-1)
+    parser.add_argument(
+        "--use_intrins", action="store_true", help="use GT intrinsics if available"
+    )
+    parser.add_argument("-y", "--overwrite", action="store_true")
+    args = parser.parse_args()
+    args = update_args(args)
+
+    print(f"Running SLAM on {len(args.seqs)} sequences")
+    with futures.ProcessPoolExecutor(max_workers=len(args.gpus)) as ex:
+        for img_dir, seq in zip(args.img_dirs, args.seqs):
+            subseqs, shot_idcs = split_sequence(args, img_dir, seq)
+            for shot, (start, end) in zip(shot_idcs, subseqs):
+                cmd = get_slam_command(args, img_dir, seq, shot, start, end)
+                print(cmd)
+                ex.submit(launch_job, args.gpus, cmd)