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
1.3 KiB
Python
16 lines
1.3 KiB
Python
from pathlib import Path
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import cv2,json,numpy as np,trimesh
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from scipy.spatial.transform import Rotation
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B=Path(__file__).resolve().parents[1]/'output/20260915_171525_dynhamr';ROOT=B.parents[1];meta=json.loads((ROOT/'docs/20260915_171525/intrinsics.json').read_text());cam=np.load(B/'rgbd_camera.npz');old=np.load(B/'object_poses.npz');new=np.load(B/'object_aligned/object_poses.npz')
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models={n:trimesh.load(B/'object_assets'/f'{n}.stl',force='mesh').vertices for n in ['upper','lower']}
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c=cv2.VideoCapture(str(ROOT/'docs/20260915_171525/color.mp4'));out=B/'object_aligned';w=cv2.VideoWriter(str(out/'alignment_overlay.mp4'),cv2.VideoWriter_fourcc(*'mp4v'),30,(848,480))
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for t in range(352):
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ok,im=c.read();assert ok
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for data,color in [(old,(0,190,255)),(new,(0,255,0))]:
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for n,v in models.items():
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p=Rotation.from_quat(data[n+'_quaternion_xyzw'][t]).apply(v)+data[n+'_position_world'][t];p=(p-cam['c2w'][t,:3,3])@cam['c2w'][t,:3,:3];uv=p[:,:2]/p[:,2,None]*[meta['fx'],meta['fy']]+[meta['cx'],meta['cy']]
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cv2.polylines(im,[cv2.convexHull(np.rint(uv).astype('int32'))],True,color,2)
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cv2.putText(im,'Orange: previous | Green: refitted',(10,25),0,.65,(255,255,255),2);w.write(im)
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if t in [0,83,176,351]:cv2.imwrite(str(out/f'overlay_{t:04d}.jpg'),im)
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c.release();w.release()
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