Moved 2D confidence scaling to a later step.

rpt/triangulator.cpp

@@ -828,6 +828,27 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
 
         auto [pose3d, score] = triangulate_and_score(
             pose1, pose2, cam1, cam2, roomparams, {});
+
+        // Scale scores with 2D confidences
+        // They can improve the merge weighting, but especially the earlier step of pair-filtering
+        // works better if only per-view consistency is used, so they are not included before.
+        for (size_t j = 0; j < pose3d.size(); ++j)
+        {
+            float score1 = pose1[j][2];
+            float score2 = pose2[j][2];
+            float min_score = 0.1;
+
+            if (score1 > min_score && score2 > min_score)
+            {
+                float scoreP = (score1 + score2) * 0.5;
+                float scoreT = pose3d[j][3];
+
+                // Since the triangulation score is less sensitive and generally higher,
+                // weight it stronger to balance the two scores.
+                pose3d[j][3] = 0.9 * scoreT + 0.1 * scoreP;
+            }
+        }
+
         all_full_poses[i] = std::move(pose3d);
     }
 
@@ -1430,11 +1451,7 @@ std::pair<std::vector<std::array<float, 4>>, float> TriangulatorInternal::triang
         if (mask[i])
         {
             float scoreT = 0.5 * (score1[i] + score2[i]);
-            float scoreP = 0.5 * (pose1[i][2] + pose2[i][2]);
-
-            // Since the triangulation score is less sensitive and generally higher,
-            // weight it stronger to balance the two scores.
-            pose3d[i][3] = 0.9 * scoreT + 0.1 * scoreP;
+            pose3d[i][3] = scoreT;
         }
     }