From 4c214e1935ea48b575acd43da2f62b2f8fe5887a Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Thu, 20 Mar 2025 17:00:35 +0100
Subject: [PATCH] Scale 3d score with 2d scores.

---
 media/RESULTS.md               | 3624 ++++++++++++++++----------------
 rpt/triangulator.cpp           |    8 +-
 scripts/test_skelda_dataset.py |   19 +-
 scripts/test_triangulate.py    |    2 +-
 4 files changed, 1829 insertions(+), 1824 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index 2ac8533..b275b88 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -294,91 +294,91 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.000707093,
-  "avg_time_2d": 0.0148645,
-  "avg_time_3d": 0.000118507,
-  "fps": 63.7344
+  "img_loading": 0.042184,
+  "demosaicing": 0.000678806,
+  "avg_time_2d": 0.0147901,
+  "avg_time_3d": 0.000119385,
+  "fps": 64.1505
 }
 {
   "triangulator_calls": 301,
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-  "undistort_time": 1.44325e-05,
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-  "match_time": 8.5159e-06,
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-  "pair_scoring_time": 2.66844e-05,
-  "grouping_time": 4.66512e-06,
-  "full_time": 2.71001e-05,
-  "merge_time": 1.16277e-05,
-  "post_time": 6.86999e-06,
-  "convert_time": 1.24289e-07,
-  "total_time": 0.000109822
+  "init_time": 2.93031e-06,
+  "undistort_time": 1.43119e-05,
+  "project_time": 2.3093e-06,
+  "match_time": 8.56559e-06,
+  "pairs_time": 4.58829e-06,
+  "pair_scoring_time": 2.63603e-05,
+  "grouping_time": 4.53817e-06,
+  "full_time": 2.74936e-05,
+  "merge_time": 1.15484e-05,
+  "post_time": 6.9437e-06,
+  "convert_time": 1.26757e-07,
+  "total_time": 0.000109953
 }
 {
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     "missing": 0,
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@@ -386,14 +386,14 @@ Results of the model in various experiments on different datasets. \
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@@ -402,15 +402,15 @@ Results of the model in various experiments on different datasets. \
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@@ -418,79 +418,79 @@ Results of the model in various experiments on different datasets. \
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@@ -498,15 +498,15 @@ Results of the model in various experiments on different datasets. \
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@@ -514,15 +514,15 @@ Results of the model in various experiments on different datasets. \
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@@ -530,15 +530,15 @@ Results of the model in various experiments on different datasets. \
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@@ -546,14 +546,14 @@ Results of the model in various experiments on different datasets. \
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@@ -562,18 +562,18 @@ Results of the model in various experiments on different datasets. \
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 }
 {
   "total_parts": 6678,
-  "correct_parts": 6620,
-  "pcp": 0.991315
+  "correct_parts": 6621,
+  "pcp": 0.991465
 }
 ```
 
@@ -606,66 +606,66 @@ Results of the model in various experiments on different datasets. \
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@@ -673,15 +673,15 @@ Results of the model in various experiments on different datasets. \
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@@ -689,95 +689,95 @@ Results of the model in various experiments on different datasets. \
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@@ -785,15 +785,15 @@ Results of the model in various experiments on different datasets. \
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@@ -801,66 +801,66 @@ Results of the model in various experiments on different datasets. \
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   "total_parts": 5264,
-  "correct_parts": 4939,
-  "pcp": 0.93826
+  "correct_parts": 4940,
+  "pcp": 0.93845
 }
 ```
 
@@ -3389,26 +3389,26 @@ Results of the model in various experiments on different datasets. \
 
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 {
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@@ -3427,85 +3427,85 @@ Results of the model in various experiments on different datasets. \
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@@ -3513,14 +3513,14 @@ Results of the model in various experiments on different datasets. \
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@@ -3529,12 +3529,12 @@ Results of the model in various experiments on different datasets. \
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@@ -3545,14 +3545,14 @@ Results of the model in various experiments on different datasets. \
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@@ -3561,15 +3561,15 @@ Results of the model in various experiments on different datasets. \
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@@ -3577,125 +3577,125 @@ Results of the model in various experiments on different datasets. \
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+    "recall-0.05": 0.605,
+    "recall-0.1": 0.81,
+    "recall-0.15": 0.865,
+    "recall-0.25": 0.94,
+    "recall-0.5": 0.99,
     "num_labels": 200
   },
   "hand_finger_ring_right_3": {
-    "count": 195,
-    "mean": 0.06565,
-    "median": 0.032731,
-    "std": 0.083386,
-    "sem": 0.005987,
-    "min": 0.003456,
-    "max": 0.46108,
+    "count": 198,
+    "mean": 0.066785,
+    "median": 0.031502,
+    "std": 0.080575,
+    "sem": 0.005741,
+    "min": 0.002985,
+    "max": 0.43229,
     "recall-0.025": 0.4,
-    "recall-0.05": 0.65,
-    "recall-0.1": 0.79,
+    "recall-0.05": 0.645,
+    "recall-0.1": 0.78,
     "recall-0.15": 0.855,
-    "recall-0.25": 0.92,
-    "recall-0.5": 0.975,
+    "recall-0.25": 0.945,
+    "recall-0.5": 0.99,
     "num_labels": 200
   },
   "hand_finger_ring_right_4": {
-    "count": 198,
-    "mean": 0.050969,
-    "median": 0.028938,
-    "std": 0.071795,
-    "sem": 0.005115,
-    "min": 0.002624,
-    "max": 0.492536,
-    "recall-0.025": 0.435,
-    "recall-0.05": 0.735,
-    "recall-0.1": 0.88,
+    "count": 200,
+    "mean": 0.048682,
+    "median": 0.027619,
+    "std": 0.064439,
+    "sem": 0.004568,
+    "min": 0.002666,
+    "max": 0.469564,
+    "recall-0.025": 0.455,
+    "recall-0.05": 0.75,
+    "recall-0.1": 0.895,
     "recall-0.15": 0.93,
-    "recall-0.25": 0.965,
-    "recall-0.5": 0.99,
+    "recall-0.25": 0.98,
+    "recall-0.5": 1.0,
     "num_labels": 200
   },
   "hand_finger_pinky_right_1": {
     "count": 197,
-    "mean": 0.05197,
-    "median": 0.029462,
-    "std": 0.066385,
-    "sem": 0.004742,
-    "min": 0.002175,
-    "max": 0.487634,
-    "recall-0.025": 0.435,
-    "recall-0.05": 0.68,
-    "recall-0.1": 0.855,
-    "recall-0.15": 0.935,
-    "recall-0.25": 0.96,
+    "mean": 0.050716,
+    "median": 0.029067,
+    "std": 0.063802,
+    "sem": 0.004557,
+    "min": 0.002101,
+    "max": 0.448416,
+    "recall-0.025": 0.455,
+    "recall-0.05": 0.69,
+    "recall-0.1": 0.87,
+    "recall-0.15": 0.92,
+    "recall-0.25": 0.965,
     "recall-0.5": 0.985,
     "num_labels": 200
   },
   "hand_finger_pinky_right_2": {
-    "count": 197,
-    "mean": 0.056038,
-    "median": 0.031566,
-    "std": 0.062108,
-    "sem": 0.004436,
-    "min": 0.002585,
-    "max": 0.336323,
-    "recall-0.025": 0.355,
-    "recall-0.05": 0.67,
-    "recall-0.1": 0.835,
+    "count": 198,
+    "mean": 0.056608,
+    "median": 0.030411,
+    "std": 0.067588,
+    "sem": 0.004815,
+    "min": 0.003009,
+    "max": 0.430334,
+    "recall-0.025": 0.39,
+    "recall-0.05": 0.66,
+    "recall-0.1": 0.84,
     "recall-0.15": 0.895,
     "recall-0.25": 0.96,
-    "recall-0.5": 0.985,
+    "recall-0.5": 0.99,
     "num_labels": 200
   },
   "hand_finger_pinky_right_3": {
-    "count": 196,
-    "mean": 0.05204,
-    "median": 0.029788,
-    "std": 0.056601,
-    "sem": 0.004053,
-    "min": 0.002628,
-    "max": 0.328673,
-    "recall-0.025": 0.38,
+    "count": 198,
+    "mean": 0.049518,
+    "median": 0.030206,
+    "std": 0.054275,
+    "sem": 0.003867,
+    "min": 0.002583,
+    "max": 0.377181,
+    "recall-0.025": 0.4,
     "recall-0.05": 0.685,
-    "recall-0.1": 0.82,
-    "recall-0.15": 0.905,
-    "recall-0.25": 0.965,
-    "recall-0.5": 0.98,
+    "recall-0.1": 0.86,
+    "recall-0.15": 0.93,
+    "recall-0.25": 0.98,
+    "recall-0.5": 0.99,
     "num_labels": 200
   },
   "hand_finger_pinky_right_4": {
-    "count": 197,
-    "mean": 0.047193,
-    "median": 0.028867,
-    "std": 0.059388,
-    "sem": 0.004242,
-    "min": 0.001909,
-    "max": 0.494789,
-    "recall-0.025": 0.43,
-    "recall-0.05": 0.72,
-    "recall-0.1": 0.88,
-    "recall-0.15": 0.955,
-    "recall-0.25": 0.97,
-    "recall-0.5": 0.985,
+    "count": 200,
+    "mean": 0.045101,
+    "median": 0.027685,
+    "std": 0.056557,
+    "sem": 0.004009,
+    "min": 0.001928,
+    "max": 0.490932,
+    "recall-0.025": 0.46,
+    "recall-0.05": 0.75,
+    "recall-0.1": 0.905,
+    "recall-0.15": 0.96,
+    "recall-0.25": 0.985,
+    "recall-0.5": 1.0,
     "num_labels": 200
   },
   "hip_middle": {
     "count": 200,
-    "mean": 0.029419,
-    "median": 0.025802,
-    "std": 0.015024,
-    "sem": 0.001065,
-    "min": 0.002918,
-    "max": 0.084958,
-    "recall-0.025": 0.46,
-    "recall-0.05": 0.92,
-    "recall-0.1": 1.0,
-    "recall-0.15": 1.0,
+    "mean": 0.028475,
+    "median": 0.024507,
+    "std": 0.018169,
+    "sem": 0.001288,
+    "min": 0.003191,
+    "max": 0.171228,
+    "recall-0.025": 0.515,
+    "recall-0.05": 0.925,
+    "recall-0.1": 0.995,
+    "recall-0.15": 0.995,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 200
   },
   "shoulder_middle": {
     "count": 200,
-    "mean": 0.019468,
-    "median": 0.017132,
-    "std": 0.010311,
-    "sem": 0.000731,
-    "min": 0.002019,
-    "max": 0.049696,
-    "recall-0.025": 0.73,
-    "recall-0.05": 1.0,
+    "mean": 0.019788,
+    "median": 0.017156,
+    "std": 0.010503,
+    "sem": 0.000745,
+    "min": 0.002025,
+    "max": 0.052918,
+    "recall-0.025": 0.725,
+    "recall-0.05": 0.99,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -5609,15 +5609,15 @@ Results of the model in various experiments on different datasets. \
   },
   "head": {
     "count": 200,
-    "mean": 0.029332,
-    "median": 0.027096,
-    "std": 0.016628,
-    "sem": 0.001179,
-    "min": 0.004265,
-    "max": 0.099312,
-    "recall-0.025": 0.445,
-    "recall-0.05": 0.895,
-    "recall-0.1": 1.0,
+    "mean": 0.029843,
+    "median": 0.027186,
+    "std": 0.018097,
+    "sem": 0.001283,
+    "min": 0.004274,
+    "max": 0.148442,
+    "recall-0.025": 0.455,
+    "recall-0.05": 0.89,
+    "recall-0.1": 0.995,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -5626,49 +5626,49 @@ Results of the model in various experiments on different datasets. \
   "body_errors": {
     "body": {
       "count": 5198,
-      "mean": 0.028141,
-      "median": 0.021959,
-      "std": 0.025216,
-      "sem": 0.001788,
-      "min": 0.002768,
-      "max": 0.194931,
+      "mean": 0.027776,
+      "median": 0.021759,
+      "std": 0.024922,
+      "sem": 0.001767,
+      "min": 0.002272,
+      "max": 0.204089,
       "num_labels": 5200
     },
     "face": {
-      "count": 13598,
-      "mean": 0.052245,
-      "median": 0.041889,
-      "std": 0.037544,
-      "sem": 0.002662,
-      "min": 0.006481,
-      "max": 0.26744,
+      "count": 13594,
+      "mean": 0.049659,
+      "median": 0.038901,
+      "std": 0.039063,
+      "sem": 0.00277,
+      "min": 0.003193,
+      "max": 0.29403,
       "num_labels": 13600
     },
     "hand": {
-      "count": 8310,
-      "mean": 0.048298,
-      "median": 0.02652,
-      "std": 0.061397,
-      "sem": 0.004378,
-      "min": 0.00274,
-      "max": 0.402275,
+      "count": 8354,
+      "mean": 0.046081,
+      "median": 0.026044,
+      "std": 0.057092,
+      "sem": 0.004059,
+      "min": 0.002632,
+      "max": 0.378338,
       "num_labels": 8400
     }
   },
   "joint_recalls": {
     "num_labels": 27200,
-    "recall-0.025": 0.3964,
-    "recall-0.05": 0.70114,
-    "recall-0.1": 0.89996,
-    "recall-0.15": 0.95963,
-    "recall-0.25": 0.9871,
-    "recall-0.5": 0.99654
+    "recall-0.025": 0.41246,
+    "recall-0.05": 0.72449,
+    "recall-0.1": 0.91199,
+    "recall-0.15": 0.96368,
+    "recall-0.25": 0.98846,
+    "recall-0.5": 0.99801
   }
 }
 {
   "total_parts": 2800,
-  "correct_parts": 2792,
-  "pcp": 0.997143
+  "correct_parts": 2791,
+  "pcp": 0.996786
 }
 ```
 
diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp
index 89ce0fb..e0a4d58 100644
--- a/rpt/triangulator.cpp
+++ b/rpt/triangulator.cpp
@@ -1429,8 +1429,12 @@ std::pair<std::vector<std::array<float, 4>>, float> TriangulatorInternal::triang
     {
         if (mask[i])
         {
-            float score = 0.5 * (score1[i] + score2[i]);
-            pose3d[i][3] = score;
+            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;
         }
     }
 
diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py
index e445f8a..0fff96c 100644
--- a/scripts/test_skelda_dataset.py
+++ b/scripts/test_skelda_dataset.py
@@ -41,7 +41,7 @@ default_min_bbox_score = 0.3
 
 # Describes how good two 2D poses need to match each other to create a valid triangulation
 # If the quality of the 2D detections is poor, use a lower value
-default_min_match_score = 0.94
+default_min_match_score = 0.91
 
 # Describes the minimum number of camera pairs that need to detect the same person
 # If the number of cameras is high, and the views are not occluded, use a higher value
@@ -55,7 +55,7 @@ datasets = {
     "human36m": {
         "path": "/datasets/human36m/skelda/pose_test.json",
         "take_interval": 5,
-        "min_match_score": 0.95,
+        "min_match_score": 0.92,
         "min_group_size": 1,
         "min_bbox_score": 0.4,
         "min_bbox_area": 0.1 * 0.1,
@@ -68,7 +68,7 @@ datasets = {
         # "cams": ["00_03", "00_06", "00_12", "00_13", "00_23", "00_15", "00_10", "00_21", "00_09", "00_01"],
         # "cams": [],
         "take_interval": 3,
-        "min_match_score": 0.95,
+        "min_match_score": 0.92,
         "use_scenes": ["160906_pizza1", "160422_haggling1", "160906_ian5"],
         "min_group_size": 1,
         # "min_group_size": 4,
@@ -79,25 +79,25 @@ datasets = {
         "path": "/datasets/mvor/skelda/all.json",
         "take_interval": 1,
         "with_depth": False,
-        "min_match_score": 0.85,
+        "min_match_score": 0.80,
         "min_bbox_score": 0.25,
     },
     "campus": {
         "path": "/datasets/campus/skelda/test.json",
         "take_interval": 1,
-        "min_match_score": 0.92,
+        "min_match_score": 0.89,
         "min_bbox_score": 0.5,
     },
     "shelf": {
         "path": "/datasets/shelf/skelda/test.json",
         "take_interval": 1,
-        "min_match_score": 0.95,
+        "min_match_score": 0.92,
         "min_group_size": 2,
     },
     "ikeaasm": {
         "path": "/datasets/ikeaasm/skelda/test.json",
         "take_interval": 2,
-        "min_match_score": 0.92,
+        "min_match_score": 0.89,
         "min_bbox_score": 0.20,
     },
     "chi3d": {
@@ -107,20 +107,21 @@ datasets = {
     "tsinghua": {
         "path": "/datasets/tsinghua/skelda/test.json",
         "take_interval": 3,
-        "min_match_score": 0.95,
+        "min_match_score": 0.92,
         "min_group_size": 2,
     },
     "human36m_wb": {
         "path": "/datasets/human36m/skelda/wb/test.json",
         "take_interval": 100,
         "min_bbox_score": 0.4,
+        "min_match_score": 0.93,
         "batch_poses": False,
     },
     "egohumans_tagging": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
         "subset": "tagging",
-        "min_match_score": 0.92,
+        "min_match_score": 0.89,
         "min_group_size": 2,
         "min_bbox_score": 0.2,
         "min_bbox_area": 0.05 * 0.05,
diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py
index 04c3885..81d5c7a 100644
--- a/scripts/test_triangulate.py
+++ b/scripts/test_triangulate.py
@@ -19,7 +19,7 @@ whole_body = {
     "hands": False,
 }
 config = {
-    "min_match_score": 0.94,
+    "min_match_score": 0.91,
     "min_group_size": 1,
     "min_bbox_score": 0.3,
     "min_bbox_area": 0.1 * 0.1,