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>
21 lines
1.4 KiB
Python
21 lines
1.4 KiB
Python
"""Restore mirrored-right inference to left-hand geometry in the original world."""
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from pathlib import Path
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import numpy as np
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from scipy.spatial.transform import Rotation
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ROOT=Path(__file__).resolve().parents[1];BASE=ROOT/'output/20260915_171525'
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src=BASE/'handflow_left_mirrored';out=BASE/'handflow_left';out.mkdir(exist_ok=True)
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M=np.diag([-1.,1.,1.]);M4=np.diag([-1.,1.,1.,1.])
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h=dict(np.load(src/'handflow_results.npz'));j=dict(np.load(src/'human_joints.npz'))
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for k in ['verts_cam','verts_world','trans']:h[k]=h[k]@M
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h['c2w']=M4@h['c2w']@M4
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h['pose']=h['pose'].copy();h['pose'][:,:3]=Rotation.from_matrix(M@Rotation.from_rotvec(h['pose'][:,:3]).as_matrix()@M).as_rotvec()
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h['intrinsics']=h['intrinsics'].copy();h['intrinsics'][2]=848-1-h['intrinsics'][2]
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h['side']='left';h['source']=str(ROOT/'docs/20260915_171525/color.mp4')
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h['convention_note']='Canonical right prediction from mirrored video, geometry reflected into actual left camera/world; body-pose fields remain canonical and are not native MANO-left parameters.'
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for k in ['joints','joints_raw','joints_world_raw','wrist_world','wrist_world_raw']:
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if k in j:j[k]=j[k]@M
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j['root_orient']=Rotation.from_matrix(M@Rotation.from_rotvec(j['root_orient']).as_matrix()@M).as_rotvec()
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j['source']=str(out/'handflow_results.npz');j['side']='left'
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np.savez_compressed(out/'handflow_results.npz',**h);np.savez_compressed(out/'human_joints.npz',**j)
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print('Unmirrored left geometry',len(j['joints']))
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