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>
25 lines
2.3 KiB
Python
25 lines
2.3 KiB
Python
"""Independent distance sign audit and paired metric recomputation from saved geometry."""
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from pathlib import Path
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import numpy as np,trimesh,open3d as o3d,json
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from red_box_distance import signed_distance
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ROOT=Path(__file__).resolve().parents[1];out=ROOT/'output/depth_ablation_red_20260916';a=np.load(out/'foreground_left_depth_comparison.npz');m=trimesh.load(out/'red_box_closed.ply',process=False)
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scene=o3d.t.geometry.RaycastingScene();scene.add_triangles(o3d.t.geometry.TriangleMesh.from_legacy(o3d.geometry.TriangleMesh(o3d.utility.Vector3dVector(m.vertices),o3d.utility.Vector3iVector(m.faces))))
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rows=json.loads((out/'foreground_left_frame_metrics.json').read_text());report=json.loads((out/'comparison_metrics.json').read_text())
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for i in np.flatnonzero(a['paired']):
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T=a['object_pose'][i];v=a['verts_before'][i];j=a['joints_before'][i];groups=[np.argsort(np.linalg.norm(v-j[k],axis=1))[:20] for k in [4,8,12,16,20]]
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for label in ['before','after']:
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local=(a['verts_'+label][i]-T[:3,3])@T[:3,:3];sd=signed_distance(scene,m,local)
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gap=[float(np.min(np.abs(sd[g]))*1000) for g in groups]
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rows[i][label]={'penetrating_vertex_fraction':float((sd<-.001).mean()),'max_vertex_penetration_mm':float(max(0,-sd.min())*1000),'nearest_fingertip_surface_gap_mm':min(gap),'fingertip_surface_gaps_mm':gap}
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if i%60==0:print('audited',i,flush=True)
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s=report['hands']['foreground_left']
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for label in ['before','after']:
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for key in ['penetrating_vertex_fraction','max_vertex_penetration_mm','nearest_fingertip_surface_gap_mm']:
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x=np.array([rows[i][label][key] for i in np.flatnonzero(a['paired'])]);s[label][key]={'median':float(np.median(x)),'p95':float(np.percentile(x,95)),'mean':float(np.mean(x))}
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report['distance_sign']='Unsigned nearest surface distance with solid-angle winding number; outside bounding box explicitly exterior. Ray parity produced false inside classifications for this CAD and was replaced.'
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# Geometry and data consistency invariants.
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d=a['translation_camera'];assert np.max(np.abs(a['verts_after']-a['verts_before']-d[:,None,:]))<1e-6
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assert np.max(np.abs(a['joints_after']-a['joints_before']-d[:,None,:]))<1e-6
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assert np.isfinite(a['verts_after']).all();assert len(a['verts_before'])==315
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(out/'foreground_left_frame_metrics.json').write_text(json.dumps(rows,indent=2));(out/'comparison_metrics.json').write_text(json.dumps(report,indent=2));print(json.dumps(s,indent=2))
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