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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+# Copyright (c) OpenMMLab. All rights reserved.
+import numpy as np
+
+
+def convert_db_to_output(db, batch_size=2, keys=None, is_3d=False):
+    outputs = []
+    len_db = len(db)
+    for i in range(0, len_db, batch_size):
+        keypoints_dim = 3 if is_3d else 2
+        keypoints = np.stack([
+            np.hstack([
+                db[j]['joints_3d'].reshape((-1, 3))[:, :keypoints_dim],
+                db[j]['joints_3d_visible'].reshape((-1, 3))[:, :1]
+            ]) for j in range(i, min(i + batch_size, len_db))
+        ])
+
+        image_paths = [
+            db[j]['image_file'] for j in range(i, min(i + batch_size, len_db))
+        ]
+        bbox_ids = [j for j in range(i, min(i + batch_size, len_db))]
+        box = np.stack([
+            np.array([
+                db[j]['center'][0], db[j]['center'][1], db[j]['scale'][0],
+                db[j]['scale'][1],
+                db[j]['scale'][0] * db[j]['scale'][1] * 200 * 200, 1.0
+            ],
+                     dtype=np.float32)
+            for j in range(i, min(i + batch_size, len_db))
+        ])
+
+        output = {}
+        output['preds'] = keypoints
+        output['boxes'] = box
+        output['image_paths'] = image_paths
+        output['output_heatmap'] = None
+        output['bbox_ids'] = bbox_ids
+
+        if keys is not None:
+            keys = keys if isinstance(keys, list) else [keys]
+            for key in keys:
+                output[key] = [
+                    db[j][key] for j in range(i, min(i + batch_size, len_db))
+                ]
+
+        outputs.append(output)
+
+    return outputs