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video_hand_motion_smooth_mapper

Apply smoothing to world-space hand motions and remove outliers.

Reads hand action results (states, actions, joints_world) produced by VideoHandActionComputeMapper and applies:

  1. Extreme outlier replacement — frames whose instantaneous wrist speed exceeds median + outlier_velocity_threshold * MAD are replaced by linear interpolation from neighbors (not deleted).
  2. Savitzky-Golay smoothing — positions are smoothed with a Savitzky-Golay filter that preserves motion peaks while removing high-frequency jitter.
  3. Quaternion smoothing — orientations are smoothed in quaternion space to avoid gimbal lock and discontinuities.
  4. Action recomputation — 7-DoF actions are re-derived from the smoothed states so they stay consistent.

Reference (paper §3.1): "we apply spline smoothing to the world-space hand motions and remove outliers"

对世界坐标系下的手部运动应用平滑处理并剔除异常值。

读取由 VideoHandActionComputeMapper 生成的手部动作结果（states、actions、joints_world）并应用以下处理：

  1. 极端异常值替换 — 瞬时手腕速度超过 median + outlier_velocity_threshold * MAD 的帧，将通过相邻帧的线性插值进行替换（而非删除）。
  2. Savitzky-Golay 平滑 — 使用 Savitzky-Golay 滤波器对位置进行平滑处理，在保留运动峰值的同时消除高频抖动。
  3. 四元数平滑 — 在四元数空间中对方向进行平滑处理，以避免万向节死锁和不连续性。
  4. 动作重新计算 — 从平滑后的状态重新推导 7 自由度动作，以保持一致性。

参考文献（论文 §3.1）： “我们对世界坐标系下的手部运动应用样条平滑并剔除异常值”

Type 算子类型: mapper

Tags 标签: cpu, video

🔧 Parameter Configuration 参数配置

name 参数名 type 类型 default 默认值 desc 说明
hand_action_field <class 'str'> 'hand_action_tags' Meta field storing hand action results (output of VideoHandActionComputeMapper).
savgol_window <class 'int'> 11 Window length for Savitzky-Golay filter. Must be odd. Larger = smoother but may lose fast motions.
savgol_polyorder <class 'int'> 3 Polynomial order for Savitzky-Golay filter. Must be less than savgol_window.
outlier_velocity_threshold <class 'float'> 5.0 Frames whose wrist speed exceeds median + threshold * MAD are replaced by interpolation. Higher = more conservative (fewer replacements).
min_frames_for_smoothing <class 'int'> 5 Minimum number of valid frames required to apply smoothing.
smooth_joints <class 'bool'> True Whether to also smooth joints_world (21-joint MANO skeleton in world space).
args ``
kwargs ``

🔗 related links 相关链接