From 21f0a20d792954f21e071180e738ef94059e2091 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 25 Sep 2024 15:42:06 +0200
Subject: [PATCH] Keep with few limbs.

---
 media/RESULTS.md     | 592 +++++++++++++++++++++----------------------
 spt/triangulator.cpp |  29 +--
 spt/triangulator.hpp |   3 +-
 3 files changed, 299 insertions(+), 325 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index 22d5ac4..823c8c3 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -286,16 +286,16 @@ Results of the model in various experiments on different datasets.
   "person_nums": {
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     "total_labels": 477,
-    "total_preds": 887,
+    "total_preds": 888,
     "considered_empty": 0,
     "valid_preds": 477,
-    "invalid_preds": 410,
+    "invalid_preds": 411,
     "missing": 0,
-    "invalid_fraction": 0.46223,
-    "precision": 0.53777,
+    "invalid_fraction": 0.46284,
+    "precision": 0.53716,
     "recall": 1.0,
-    "f1": 0.69941,
-    "non_empty": 887
+    "f1": 0.6989,
+    "non_empty": 888
   },
   "mpjpe": {
     "count": 477,
@@ -549,24 +549,24 @@ Results of the model in various experiments on different datasets.
 (duration 00:00:29)
 ```json
 {
-  "avg_time_2d": 0.05682281952983928,
-  "avg_time_3d": 0.00042041292730367406,
-  "avg_fps": 17.46931396211217
+  "avg_time_2d": 0.05642345491445289,
+  "avg_time_3d": 0.00043942793360296283,
+  "avg_fps": 17.586164294063575
 }
 {
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     "total_labels": 376,
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     "considered_empty": 0,
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-    "invalid_preds": 96,
+    "invalid_preds": 97,
     "missing": 0,
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-    "precision": 0.79661,
+    "invalid_fraction": 0.20507,
+    "precision": 0.79493,
     "recall": 1.0,
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-    "non_empty": 472
+    "f1": 0.88575,
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@@ -1039,20 +1039,20 @@ Results of the model in various experiments on different datasets.
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-    "invalid_preds": 76,
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     "missing": 2,
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@@ -1065,18 +1065,18 @@ Results of the model in various experiments on different datasets.
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@@ -1106,9 +1106,9 @@ Results of the model in various experiments on different datasets.
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@@ -1122,14 +1122,14 @@ Results of the model in various experiments on different datasets.
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@@ -1138,9 +1138,9 @@ Results of the model in various experiments on different datasets.
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@@ -1154,10 +1154,10 @@ Results of the model in various experiments on different datasets.
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@@ -1170,9 +1170,9 @@ Results of the model in various experiments on different datasets.
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@@ -1186,14 +1186,14 @@ Results of the model in various experiments on different datasets.
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@@ -1202,9 +1202,9 @@ Results of the model in various experiments on different datasets.
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@@ -1218,9 +1218,9 @@ Results of the model in various experiments on different datasets.
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@@ -1234,9 +1234,9 @@ Results of the model in various experiments on different datasets.
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@@ -1250,9 +1250,9 @@ Results of the model in various experiments on different datasets.
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@@ -1266,7 +1266,7 @@ Results of the model in various experiments on different datasets.
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@@ -1283,7 +1283,7 @@ Results of the model in various experiments on different datasets.
   "joint_recalls": {
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@@ -1308,93 +1308,93 @@ Results of the model in various experiments on different datasets.
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@@ -1402,23 +1402,23 @@ Results of the model in various experiments on different datasets.
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@@ -1438,19 +1438,19 @@ Results of the model in various experiments on different datasets.
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@@ -1552,17 +1552,17 @@ Results of the model in various experiments on different datasets.
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+    "recall-0.25": 0.9039,
+    "recall-0.5": 0.95129
   }
 }
 {
   "total_parts": 20444,
-  "correct_parts": 18304,
-  "pcp": 0.895324
+  "correct_parts": 18309,
+  "pcp": 0.895568
 }
 ```
 
@@ -1577,23 +1577,23 @@ Results of the model in various experiments on different datasets.
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     "total_labels": 1466,
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@@ -1603,16 +1603,16 @@ Results of the model in various experiments on different datasets.
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@@ -1628,14 +1628,14 @@ Results of the model in various experiments on different datasets.
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@@ -1644,25 +1644,25 @@ Results of the model in various experiments on different datasets.
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@@ -1676,14 +1676,14 @@ Results of the model in various experiments on different datasets.
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     "max": 0.132247,
     "recall-0.025": 0.802461,
-    "recall-0.05": 0.969925,
+    "recall-0.05": 0.970608,
     "recall-0.1": 0.997949,
     "recall-0.15": 0.999316,
     "recall-0.25": 0.999316,
@@ -1692,9 +1692,9 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_left": {
     "count": 1433,
-    "mean": 0.020848,
+    "mean": 0.020859,
     "median": 0.015088,
-    "std": 0.021066,
+    "std": 0.021069,
     "sem": 0.000557,
     "min": 0.001506,
     "max": 0.194344,
@@ -1708,13 +1708,13 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_right": {
     "count": 1456,
-    "mean": 0.020379,
+    "mean": 0.020392,
     "median": 0.0137,
-    "std": 0.020851,
+    "std": 0.020859,
     "sem": 0.000547,
     "min": 0.000284,
     "max": 0.212342,
-    "recall-0.025": 0.771291,
+    "recall-0.025": 0.770604,
     "recall-0.05": 0.933379,
     "recall-0.1": 0.984203,
     "recall-0.15": 0.997253,
@@ -1724,14 +1724,14 @@ Results of the model in various experiments on different datasets.
   },
   "hip_left": {
     "count": 1464,
-    "mean": 0.050249,
+    "mean": 0.050256,
     "median": 0.048397,
-    "std": 0.019065,
-    "sem": 0.000498,
+    "std": 0.01907,
+    "sem": 0.000499,
     "min": 0.008094,
     "max": 0.148516,
     "recall-0.025": 0.049829,
-    "recall-0.05": 0.546758,
+    "recall-0.05": 0.546075,
     "recall-0.1": 0.975427,
     "recall-0.15": 0.999317,
     "recall-0.25": 0.999317,
@@ -1740,14 +1740,14 @@ Results of the model in various experiments on different datasets.
   },
   "hip_right": {
     "count": 1465,
-    "mean": 0.05004,
+    "mean": 0.050045,
     "median": 0.048856,
-    "std": 0.016858,
+    "std": 0.016859,
     "sem": 0.000441,
     "min": 0.007258,
     "max": 0.138747,
     "recall-0.025": 0.051842,
-    "recall-0.05": 0.521828,
+    "recall-0.05": 0.521146,
     "recall-0.1": 0.988404,
     "recall-0.15": 0.999318,
     "recall-0.25": 0.999318,
@@ -1756,13 +1756,13 @@ Results of the model in various experiments on different datasets.
   },
   "knee_left": {
     "count": 1464,
-    "mean": 0.038355,
+    "mean": 0.038364,
     "median": 0.032286,
-    "std": 0.027223,
+    "std": 0.027217,
     "sem": 0.000712,
     "min": 0.002051,
     "max": 0.275419,
-    "recall-0.025": 0.333788,
+    "recall-0.025": 0.333106,
     "recall-0.05": 0.759727,
     "recall-0.1": 0.970648,
     "recall-0.15": 0.990444,
@@ -1788,14 +1788,14 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_left": {
     "count": 1457,
-    "mean": 0.085303,
-    "median": 0.043142,
-    "std": 0.10143,
-    "sem": 0.002658,
+    "mean": 0.085272,
+    "median": 0.043075,
+    "std": 0.101395,
+    "sem": 0.002657,
     "min": 0.000814,
     "max": 0.494931,
     "recall-0.025": 0.346548,
-    "recall-0.05": 0.544771,
+    "recall-0.05": 0.545455,
     "recall-0.1": 0.712919,
     "recall-0.15": 0.828435,
     "recall-0.25": 0.917293,
@@ -1804,10 +1804,10 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_right": {
     "count": 1447,
-    "mean": 0.077076,
-    "median": 0.042829,
-    "std": 0.096684,
-    "sem": 0.002543,
+    "mean": 0.077062,
+    "median": 0.042773,
+    "std": 0.096671,
+    "sem": 0.002542,
     "min": 0.001957,
     "max": 0.49866,
     "recall-0.025": 0.315753,
@@ -1820,8 +1820,8 @@ Results of the model in various experiments on different datasets.
   },
   "joint_recalls": {
     "num_labels": 18990,
-    "recall-0.025": 0.53138,
-    "recall-0.05": 0.80374,
+    "recall-0.025": 0.53133,
+    "recall-0.05": 0.80379,
     "recall-0.1": 0.95082,
     "recall-0.15": 0.97241,
     "recall-0.25": 0.98562,
@@ -1848,141 +1848,141 @@ Results of the model in various experiments on different datasets.
   "person_nums": {
     "total_frames": 479,
     "total_labels": 479,
-    "total_preds": 646,
+    "total_preds": 653,
     "considered_empty": 0,
-    "valid_preds": 399,
-    "invalid_preds": 247,
-    "missing": 80,
-    "invalid_fraction": 0.38235,
-    "precision": 0.61765,
-    "recall": 0.83299,
-    "f1": 0.70933,
-    "non_empty": 646
+    "valid_preds": 400,
+    "invalid_preds": 253,
+    "missing": 79,
+    "invalid_fraction": 0.38744,
+    "precision": 0.61256,
+    "recall": 0.83507,
+    "f1": 0.70671,
+    "non_empty": 653
   },
   "mpjpe": {
-    "count": 399,
-    "mean": 0.091819,
-    "median": 0.071757,
-    "std": 0.074679,
-    "sem": 0.003743,
+    "count": 400,
+    "mean": 0.092813,
+    "median": 0.072425,
+    "std": 0.076241,
+    "sem": 0.003817,
     "min": 0.018825,
     "max": 0.474035,
     "recall-0.025": 0.029228,
     "recall-0.05": 0.286013,
     "recall-0.1": 0.590814,
-    "recall-0.15": 0.699374,
+    "recall-0.15": 0.697286,
     "recall-0.25": 0.797495,
-    "recall-0.5": 0.832985,
+    "recall-0.5": 0.835073,
     "num_labels": 479,
     "ap-0.025": 0.001417,
-    "ap-0.05": 0.105556,
-    "ap-0.1": 0.40114,
-    "ap-0.15": 0.540623,
-    "ap-0.25": 0.672628,
-    "ap-0.5": 0.704589
+    "ap-0.05": 0.105678,
+    "ap-0.1": 0.401677,
+    "ap-0.15": 0.539153,
+    "ap-0.25": 0.673607,
+    "ap-0.5": 0.707115
   },
   "head": {
-    "count": 375,
-    "mean": 0.039513,
-    "median": 0.029062,
-    "std": 0.040355,
-    "sem": 0.002087,
+    "count": 376,
+    "mean": 0.040316,
+    "median": 0.029569,
+    "std": 0.041871,
+    "sem": 0.002162,
     "min": 0.003708,
     "max": 0.388716,
-    "recall-0.025": 0.323009,
+    "recall-0.025": 0.320796,
     "recall-0.05": 0.646018,
-    "recall-0.1": 0.798673,
-    "recall-0.15": 0.814159,
-    "recall-0.25": 0.820796,
-    "recall-0.5": 0.829646,
+    "recall-0.1": 0.79646,
+    "recall-0.15": 0.811947,
+    "recall-0.25": 0.823009,
+    "recall-0.5": 0.831858,
     "num_labels": 452
   },
   "shoulder_left": {
-    "count": 379,
-    "mean": 0.046092,
-    "median": 0.036204,
-    "std": 0.041004,
-    "sem": 0.002109,
+    "count": 380,
+    "mean": 0.047274,
+    "median": 0.0364,
+    "std": 0.044933,
+    "sem": 0.002308,
     "min": 0.011784,
     "max": 0.419809,
     "recall-0.025": 0.094714,
-    "recall-0.05": 0.625551,
-    "recall-0.1": 0.801762,
+    "recall-0.05": 0.623348,
+    "recall-0.1": 0.799559,
     "recall-0.15": 0.814978,
     "recall-0.25": 0.823789,
-    "recall-0.5": 0.834802,
+    "recall-0.5": 0.837004,
     "num_labels": 454
   },
   "shoulder_right": {
-    "count": 392,
-    "mean": 0.036063,
-    "median": 0.028358,
-    "std": 0.037057,
-    "sem": 0.001874,
+    "count": 393,
+    "mean": 0.037719,
+    "median": 0.028452,
+    "std": 0.043202,
+    "sem": 0.002182,
     "min": 0.004674,
-    "max": 0.414223,
-    "recall-0.025": 0.282655,
-    "recall-0.05": 0.749465,
-    "recall-0.1": 0.820128,
-    "recall-0.15": 0.824411,
+    "max": 0.434466,
+    "recall-0.025": 0.280514,
+    "recall-0.05": 0.747323,
+    "recall-0.1": 0.815846,
+    "recall-0.15": 0.82227,
     "recall-0.25": 0.826552,
-    "recall-0.5": 0.8394,
+    "recall-0.5": 0.841542,
     "num_labels": 467
   },
   "elbow_left": {
-    "count": 365,
-    "mean": 0.039083,
-    "median": 0.021855,
-    "std": 0.054554,
-    "sem": 0.002859,
+    "count": 366,
+    "mean": 0.040307,
+    "median": 0.022077,
+    "std": 0.057584,
+    "sem": 0.003014,
     "min": 0.003295,
     "max": 0.491679,
     "recall-0.025": 0.471396,
     "recall-0.05": 0.681922,
-    "recall-0.1": 0.768879,
-    "recall-0.15": 0.796339,
+    "recall-0.1": 0.76659,
+    "recall-0.15": 0.79405,
     "recall-0.25": 0.82151,
-    "recall-0.5": 0.83524,
+    "recall-0.5": 0.837529,
     "num_labels": 437
   },
   "elbow_right": {
-    "count": 369,
-    "mean": 0.038082,
-    "median": 0.021198,
-    "std": 0.058033,
-    "sem": 0.003025,
+    "count": 370,
+    "mean": 0.039712,
+    "median": 0.021287,
+    "std": 0.062857,
+    "sem": 0.003272,
     "min": 0.00252,
     "max": 0.483894,
     "recall-0.025": 0.494331,
     "recall-0.05": 0.696145,
-    "recall-0.1": 0.786848,
+    "recall-0.1": 0.78458,
     "recall-0.15": 0.800454,
-    "recall-0.25": 0.818594,
-    "recall-0.5": 0.836735,
+    "recall-0.25": 0.816327,
+    "recall-0.5": 0.839002,
     "num_labels": 441
   },
   "wrist_left": {
-    "count": 359,
-    "mean": 0.037744,
-    "median": 0.022827,
-    "std": 0.060713,
-    "sem": 0.003209,
+    "count": 360,
+    "mean": 0.038211,
+    "median": 0.022851,
+    "std": 0.061272,
+    "sem": 0.003234,
     "min": 0.002309,
     "max": 0.478187,
     "recall-0.025": 0.461009,
     "recall-0.05": 0.701835,
     "recall-0.1": 0.777523,
     "recall-0.15": 0.798165,
-    "recall-0.25": 0.802752,
-    "recall-0.5": 0.823394,
+    "recall-0.25": 0.805046,
+    "recall-0.5": 0.825688,
     "num_labels": 436
   },
   "wrist_right": {
-    "count": 372,
-    "mean": 0.034448,
-    "median": 0.020664,
-    "std": 0.050717,
-    "sem": 0.002633,
+    "count": 373,
+    "mean": 0.035561,
+    "median": 0.020667,
+    "std": 0.054067,
+    "sem": 0.002803,
     "min": 0.001785,
     "max": 0.47799,
     "recall-0.025": 0.493274,
@@ -1990,23 +1990,23 @@ Results of the model in various experiments on different datasets.
     "recall-0.1": 0.789238,
     "recall-0.15": 0.804933,
     "recall-0.25": 0.82287,
-    "recall-0.5": 0.834081,
+    "recall-0.5": 0.836323,
     "num_labels": 446
   },
   "hip_left": {
-    "count": 260,
-    "mean": 0.111186,
-    "median": 0.097588,
-    "std": 0.057756,
-    "sem": 0.003589,
+    "count": 261,
+    "mean": 0.111334,
+    "median": 0.097762,
+    "std": 0.056356,
+    "sem": 0.003495,
     "min": 0.029201,
     "max": 0.488038,
     "recall-0.025": 0.0,
     "recall-0.05": 0.015924,
     "recall-0.1": 0.442675,
     "recall-0.15": 0.729299,
-    "recall-0.25": 0.802548,
-    "recall-0.5": 0.828025,
+    "recall-0.25": 0.805732,
+    "recall-0.5": 0.83121,
     "num_labels": 314
   },
   "hip_right": {
@@ -2027,44 +2027,44 @@ Results of the model in various experiments on different datasets.
   },
   "knee_left": {
     "count": 215,
-    "mean": 0.146974,
-    "median": 0.111378,
-    "std": 0.104689,
-    "sem": 0.007156,
+    "mean": 0.14778,
+    "median": 0.112225,
+    "std": 0.104573,
+    "sem": 0.007148,
     "min": 0.010824,
     "max": 0.491249,
     "recall-0.025": 0.028986,
     "recall-0.05": 0.101449,
-    "recall-0.1": 0.32971,
-    "recall-0.15": 0.507246,
+    "recall-0.1": 0.326087,
+    "recall-0.15": 0.503623,
     "recall-0.25": 0.637681,
     "recall-0.5": 0.778986,
     "num_labels": 276
   },
   "knee_right": {
     "count": 164,
-    "mean": 0.144028,
+    "mean": 0.14477,
     "median": 0.099527,
-    "std": 0.116159,
-    "sem": 0.009098,
+    "std": 0.116266,
+    "sem": 0.009107,
     "min": 0.015332,
     "max": 0.497051,
     "recall-0.025": 0.018605,
     "recall-0.05": 0.130233,
     "recall-0.1": 0.381395,
-    "recall-0.15": 0.530233,
+    "recall-0.15": 0.525581,
     "recall-0.25": 0.627907,
     "recall-0.5": 0.762791,
     "num_labels": 215
   },
   "ankle_left": {
     "count": 54,
-    "mean": 0.340704,
+    "mean": 0.341155,
     "median": 0.378166,
-    "std": 0.110978,
-    "sem": 0.015244,
+    "std": 0.111535,
+    "sem": 0.01532,
     "min": 0.064544,
-    "max": 0.484108,
+    "max": 0.490279,
     "recall-0.025": 0.0,
     "recall-0.05": 0.0,
     "recall-0.1": 0.022727,
@@ -2091,18 +2091,18 @@ Results of the model in various experiments on different datasets.
   },
   "joint_recalls": {
     "num_labels": 4457,
-    "recall-0.025": 0.26363,
-    "recall-0.05": 0.49899,
-    "recall-0.1": 0.65605,
-    "recall-0.15": 0.7173,
-    "recall-0.25": 0.74961,
-    "recall-0.5": 0.79874
+    "recall-0.025": 0.26318,
+    "recall-0.05": 0.49809,
+    "recall-0.1": 0.65448,
+    "recall-0.15": 0.71618,
+    "recall-0.25": 0.7505,
+    "recall-0.5": 0.80054
   }
 }
 {
   "total_parts": 4313,
-  "correct_parts": 3242,
-  "pcp": 0.751681
+  "correct_parts": 3237,
+  "pcp": 0.750522
 }
 ```
 
diff --git a/spt/triangulator.cpp b/spt/triangulator.cpp
index 1838ebf..e510a30 100644
--- a/spt/triangulator.cpp
+++ b/spt/triangulator.cpp
@@ -515,7 +515,7 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
     // Run post-processing steps
     std::vector<cv::Mat> final_poses_3d = all_merged_poses;
     add_extra_joints(final_poses_3d, joint_names);
-    filter_poses(final_poses_3d, roomparams, core_joint_idx, core_limbs_idx, true);
+    filter_poses(final_poses_3d, roomparams, core_joint_idx, core_limbs_idx);
     add_missing_joints(final_poses_3d, joint_names);
     last_poses_3d = final_poses_3d;
 
@@ -1492,8 +1492,7 @@ void TriangulatorInternal::filter_poses(
     std::vector<cv::Mat> &poses,
     const std::array<std::array<float, 3>, 2> &roomparams,
     const std::vector<size_t> &core_joint_idx,
-    const std::vector<std::array<size_t, 2>> &core_limbs_idx,
-    bool drop_few_limbs = true)
+    const std::vector<std::array<size_t, 2>> &core_limbs_idx)
 {
     const float min_score = 0.1;
     std::vector<int> drop_indices;
@@ -1608,30 +1607,6 @@ void TriangulatorInternal::filter_poses(
             continue;
         }
 
-        if (drop_few_limbs)
-        {
-            // Drop poses with less than 3 valid limbs
-            size_t found_limbs = 0;
-            for (size_t j = 0; j < core_limbs_idx.size(); ++j)
-            {
-                size_t start_idx = core_joint_idx[core_limbs_idx[j][0]];
-                size_t end_idx = core_joint_idx[core_limbs_idx[j][1]];
-
-                float *joint_start_ptr = pose.ptr<float>(start_idx);
-                float *joint_end_ptr = pose.ptr<float>(end_idx);
-
-                if (joint_start_ptr[3] > min_score && joint_end_ptr[3] > min_score)
-                {
-                    found_limbs++;
-                }
-            }
-            if (found_limbs < 3)
-            {
-                drop_indices.push_back(i);
-                continue;
-            }
-        }
-
         // Calculate total limb length and average limb length
         const float max_avg_length = 0.5f;
         const float min_avg_length = 0.1f;
diff --git a/spt/triangulator.hpp b/spt/triangulator.hpp
index b1fe8a8..4818d31 100644
--- a/spt/triangulator.hpp
+++ b/spt/triangulator.hpp
@@ -109,8 +109,7 @@ private:
         std::vector<cv::Mat> &poses,
         const std::array<std::array<float, 3>, 2> &roomparams,
         const std::vector<size_t> &core_joint_idx,
-        const std::vector<std::array<size_t, 2>> &core_limbs_idx,
-        bool drop_few_limbs);
+        const std::vector<std::array<size_t, 2>> &core_limbs_idx);
 
     void add_missing_joints(
         std::vector<cv::Mat> &poses, const std::vector<std::string> &joint_names);