Scale 3d score with 2d scores.

2025-03-20 17:00:35 +01:00
parent 6ed9326060
commit 4c214e1935
4 changed files with 1829 additions and 1824 deletions
--- 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;
        }
    }