type-two
7d0a3b7f7c
Lane B / session-5 item 5: pose_engine.py — SKEL BVH + sidecar (B2) + jitter (B3)
...
pose_engine.py: queue video -> HSMR/SKEL -> BVH@fps + sidecar JSON per the treaty.
- detection: torchvision mobilenet (engine_patches), every-Nth frame + single best-box
reuse (single-subject) -> ~1 pose/frame aligned timeline. mobilenet swap + detect-every
address the CPU-detector wall-clock finding.
- recovery: HSMR ViT-H on MPS -> SKEL params (poses q46, betas, cam_t).
- SKEL forward -> per-joint global orientations; rigid-bone BVH via rest-aware FK
(offset[j]=rest_J[j]-rest_J[parent]; W[j]=Rg[j]@rest_R[j]^T; local Q=W[parent]^T@W[j]).
Verified: rest-aware FK reconstructs SKEL joints to ~4cm (residual = SKEL biomechanical
coupled translations, which rigid BVH can't carry), in-BVH FK self-consistency 0.0mm.
- camera->world axis fix: HSMR emits Y-down (OpenCV, verified head.y<pelvis.y); diag(1,-1,-1)
-> Y-up, faces -Z (treaty). Blender import: 24 bones, upright, 1.59m, motion present.
- B3 jitter: savgol on hemisphere-aligned quaternions (rotations) + root xyz separately.
- sidecar: root_space=camera (per-frame HSMR), joint_order, root_trajectory, model, fps.
- build models once + per-video try/except: queue of 6 drained unattended, 2 bad clips
(no-person, garbage) failed gracefully, 4 produced valid BVH; heartbeat per clip.
- runtime steady-state ~1.6x realtime on ultra (detect+recover), under the <2x bar.
- --selfcheck (engine-free): BVH FK exact + Euler round-trip exact.
spec/skel_to_mixamorig.json: SKEL-24 -> mixamorig name map for Lane C's retarget
(20 mapped, 4 null twist/heel; validated against both skeletons).
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-17 10:41:08 +10:00
type-two
619d35cc79
Lane 0: bootstrap MOCAPGOD
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git init + .gitignore (weights/capture/queue/out/media excluded), docs/LICENSES.md
skeleton with the SMPL gate, PROGRESS.md ledger, and spec/mixamorig_bones.json —
65 mixamorig bones (colon-prefixed) dumped from character_kit/female/female_game.glb
via headless Blender. This bone file is the retarget ground truth for Lane C.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
2026-07-17 00:40:26 +10:00
