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>
16 lines
1.5 KiB
Python
16 lines
1.5 KiB
Python
import os,subprocess,sys,shutil
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from pathlib import Path
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ROOT=Path(__file__).resolve().parents[1]; dyn=ROOT/'third_party/Dyn-HaMR'; base=ROOT/'output/20260915_171525_dynhamr'
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env=os.environ.copy();env.update(TORCH_HOME=str(ROOT/'.torch_cache'),HF_HOME=str(ROOT/'.hf_cache'),HF_HUB_OFFLINE='1',TRANSFORMERS_OFFLINE='1',PYOPENGL_PLATFORM='egl',LD_LIBRARY_PATH='',MPLCONFIGDIR='/tmp/matplotlib-dynhamr',HYDRA_FULL_ERROR='1')
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env['DYNHAMR_HIDE_CAMERA_MARKERS']='1'
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env['PATH']=str(dyn/'.dynhamr/bin')+':'+env['PATH'];env['PYTHONPATH']=':'.join(str(dyn/p) for p in ['dyn-hamr','third-party/hamer','third-party/hamer/third-party/ViTPose'])
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target=base/('raw_comparison' if '--raw' in sys.argv else 'corrected')
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if '--raw' in sys.argv:
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(target/'prior').mkdir(parents=True,exist_ok=True)
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shutil.copy2(base/'optimization/prior/20260915_171525_000000_world_results.npz',target/'prior/20260915_171525_000000_world_results.npz')
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cmd=[str(dyn/'.dynhamr/bin/python'),'-u','run_opt.py','data=video_vipe','data.root='+str(base/'dataset'),'data.seq="20260915_171525"','data.vipe_dir='+str(base/'rgbd_cameras'),'data.frame_opts.fps=30','run_opt=False','run_vis=True','temporal_smooth=False','vis.phases=[prior]','hydra.run.dir='+str(base/'corrected')]
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cmd[-1]='hydra.run.dir='+str(target)
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cmd+=['vis.overwrite=True']
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with (target/'render.log').open('w') as f:r=subprocess.run(cmd,cwd=dyn/'dyn-hamr',env=env,stdout=f,stderr=subprocess.STDOUT)
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(target/'render_exit.txt').write_text(str(r.returncode));raise SystemExit(r.returncode)
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