liyang
ae28d55f81
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>
19 lines
905 B
Python
19 lines
905 B
Python
"""Unsigned closest distance with solid-angle winding sign for a closed mesh.
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Avoid ray-parity misclassification at collinear CAD tessellation edges.
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"""
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import numpy as np
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import open3d as o3d
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def signed_distance(scene,mesh,points):
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p=np.asarray(points,dtype=np.float64)
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d=scene.compute_distance(o3d.core.Tensor(p.astype('float32'))).numpy()
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ids=np.flatnonzero(((p>=mesh.bounds[0])&(p<=mesh.bounds[1])).all(1))
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triangles=np.asarray(mesh.triangles,dtype=np.float64)
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for start in range(0,len(ids),32):
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ix=ids[start:start+32];v=triangles[None]-p[ix,None,None,:];a,b,c=v[:,:,0],v[:,:,1],v[:,:,2];length=np.linalg.norm(v,axis=-1)
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numerator=np.einsum('bij,bij->bi',a,np.cross(b,c))
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denominator=length.prod(-1)+(a*b).sum(-1)*length[:,:,2]+(b*c).sum(-1)*length[:,:,0]+(c*a).sum(-1)*length[:,:,1]
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winding=np.arctan2(numerator,denominator).sum(-1)/(2*np.pi)
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d[ix[np.abs(winding)>.5]]*=-1
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return d
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