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>
48 lines
2.7 KiB
Python
48 lines
2.7 KiB
Python
"""Resume the 20260915_171525 RGB-D right-hand reconstruction."""
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import os
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from pathlib import Path
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import subprocess
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import json
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import time
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import argparse
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import numpy as np
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parser=argparse.ArgumentParser()
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parser.add_argument('--left',action='store_true')
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args=parser.parse_args()
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ROOT=Path(__file__).resolve().parents[1]
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SOURCE=ROOT/'docs/20260915_171525'
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OUT=ROOT/('output/20260915_171525/handflow_left_mirrored' if args.left else 'output/20260915_171525/handflow')
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OUT.mkdir(parents=True,exist_ok=True)
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meta=json.loads((SOURCE/'intrinsics.json').read_text())
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env=os.environ.copy()
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env.update(PYTHONPATH=str(ROOT),LD_LIBRARY_PATH='',OMP_NUM_THREADS='4',MKL_NUM_THREADS='4',
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OPENBLAS_NUM_THREADS='4',TORCH_HOME=str(ROOT/'.torch_cache'),HF_HOME=str(ROOT/'.hf_cache'),
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HF_HUB_OFFLINE='1',TRANSFORMERS_OFFLINE='1',TORCH_FORCE_NO_WEIGHTS_ONLY_LOAD='1',
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PYTHONUNBUFFERED='1',VIPE_PYTHON=str(ROOT/'.venv/bin/python'),
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HAMER_CKPT=str(ROOT/'third_party/hamer/_DATA/hamer_ckpts/checkpoints/hamer.ckpt'),
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DETECTOR_CKPT=str(ROOT/'weights/detector.pt'),
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MANO_ROOT=str(ROOT/'third_party/hamer/_DATA/data/mano'),
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HANDFLOW_NORMALIZATION_STATS=str(ROOT/'weights/normalization_stats.npz'))
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cmd=[str(ROOT/'.venv/bin/python'),'-u','scripts/demo.py','--input',str(SOURCE/'color.mp4'),
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'--fm_ckpt',str(ROOT/'weights/handflow_denoiser.pt'),'--intrinsics',
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','.join(str(meta[k]) for k in ['fx','fy','cx','cy']),'--side','right',
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'--rotation_smooth_window','5','--output_dir',str(OUT),'--save_npz',str(OUT/'handflow_results.npz')]
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if args.left:
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cmd[cmd.index('--input')+1]=str(OUT.parent/'left_mirrored.mkv')
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intr=np.array([meta[k] for k in ['fx','fy','cx','cy']]);intr[2]=meta['width']-1-intr[2]
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c=np.load(OUT.parent/'rgbd_camera.npz');reflection=np.diag([-1.,1.,1.,1.])
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np.savez(OUT/'camera_slam.npz',intrinsics=intr,c2w=reflection@c['c2w']@reflection)
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status=OUT.parent/'status.json'
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for attempt in range(2):
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if (OUT/'handflow_results.npz').exists():break
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status.write_text(json.dumps(dict(stage='RECONSTRUCTION_RUNNING',attempt=attempt,command=cmd,time=time.time()),indent=2))
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with (OUT/'inference.log').open('a') as log:
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result=subprocess.run(cmd,cwd=ROOT,env=env,stdout=log,stderr=subprocess.STDOUT)
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if result.returncode:
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status.write_text(json.dumps(dict(stage='RECONSTRUCTION_FAILED',returncode=result.returncode,time=time.time()),indent=2))
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raise SystemExit(result.returncode)
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if not (OUT/'handflow_results.npz').exists():raise RuntimeError('No final reconstruction arrays')
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status.write_text(json.dumps(dict(stage='RECONSTRUCTION_DONE_PENDING_DEPTH_AND_RETARGET',time=time.time()),indent=2))
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