Update to 2026-09-17 pipeline snapshot; add weights, L20 assets and recording via Git LFS

Source: RGB-D -> Dyn-HaMR -> L20 retargeting -> FoundationPose -> reference repair -> SPIDER, documented in docs/PIPELINE_LATEST.md and docs/SETUP_AND_WEIGHTS.md. Adds FoundationPose and nvdiffrast upstream snapshots, requirements/pipeline_venv.txt and the FoundationPose weight manifest/downloader. Assets (Git LFS): weights/ (WiLoR detector, HandFlow denoiser, UniDepth-L), FoundationPose checkpoints, HaMeR checkpoint, Dyn-HaMR HMP model and BMC constraints, L20 URDF/meshes, the 20260915_171525 D405 recording and the two box CADs. MANO models are not redistributed (third_party/hamer/_DATA/data/mano/README.txt). Environments, caches and run outputs excluded. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
2026-09-17 11:27:46 +08:00
parent 7e4ef6f98b
commit ae28d55f81
761 changed files with 55598 additions and 59 deletions
@@ -0,0 +1,79 @@
+# Copyright (c) 2023, NVIDIA CORPORATION.  All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+
+import os,sys,time,socket
+code_path = os.path.dirname(os.path.realpath(__file__))
+sys.path.append(code_path)
+import open3d as o3d
+import numpy as np
+from PIL import Image
+import cv2,imageio
+import time
+import trimesh
+import pyrender
+from transformations import *
+import numpy as np
+from PIL import Image
+import cv2
+import time
+import argparse,pickle
+from Utils import *
+
+
+cvcam_in_glcam = np.array([[1,0,0,0],
+                          [0,-1,0,0],
+                          [0,0,-1,0],
+                          [0,0,0,1]])
+
+class ModelRendererOffscreen:
+  def __init__(self, cam_K, H,W, zfar=100):
+    '''
+    @window_sizes: H,W
+    '''
+    self.K = cam_K
+    self.scene = pyrender.Scene(ambient_light=[1., 1., 1.],bg_color=[0,0,0])
+    self.camera = pyrender.IntrinsicsCamera(fx=cam_K[0,0],fy=cam_K[1,1],cx=cam_K[0,2],cy=cam_K[1,2],znear=0.001,zfar=zfar)
+    self.cam_node = self.scene.add(self.camera, pose=np.eye(4), name='cam')
+    self.mesh_nodes = []
+
+    self.H = H
+    self.W = W
+    self.r = pyrender.OffscreenRenderer(self.W, self.H)
+
+
+  def set_cam_pose(self, cam_pose):
+    self.cam_node.matrix = cam_pose
+
+  def add_mesh(self, mesh):
+    mesh = pyrender.Mesh.from_trimesh(mesh, smooth=False)
+    mesh_node = self.scene.add(mesh,pose=np.eye(4), name='ob') # Object pose parent is cam
+    self.mesh_nodes.append(mesh_node)
+
+
+  def add_point_light(self, intensity=3):
+    light = pyrender.DirectionalLight(color=[1.0, 1.0, 1.0], intensity=intensity)
+    self.scene.add(light, pose=np.eye(4))  # Same as camera position
+
+
+  def clear_mesh_nodes(self):
+    for n in self.mesh_nodes:
+      self.scene.remove_node(n)
+
+
+  def render(self,mesh=None,ob_in_cvcam=None, get_normal=False):
+    if mesh is not None:
+      mesh = mesh.copy()
+      mesh.apply_transform(cvcam_in_glcam@ob_in_cvcam)
+      mesh = pyrender.Mesh.from_trimesh(mesh, smooth=False)
+      mesh_node = self.scene.add(mesh, pose=np.eye(4), name='ob') # Object pose parent is cam
+    color, depth = self.r.render(self.scene)  # depth: float
+    if mesh is not None:
+      self.scene.remove_node(mesh_node)
+
+    return color, depth