diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp
index f60fbb9..89ce0fb 100644
--- a/rpt/triangulator.cpp
+++ b/rpt/triangulator.cpp
@@ -1996,15 +1996,17 @@ void TriangulatorInternal::filter_poses(
     for (size_t i = 0; i < poses.size(); ++i)
     {
         auto &pose = poses[i];
-        size_t num_joints = pose.size();
+        size_t num_core_joints = core_joint_idx.size();
+        size_t num_full_joints = pose.size();
 
         // Collect valid joint indices
         std::vector<size_t> valid_joint_idx;
-        for (size_t j = 0; j < num_joints; ++j)
+        for (size_t j = 0; j < num_core_joints; ++j)
         {
-            if (pose[j][3] > min_score)
+            size_t idx = core_joint_idx[j];
+            if (pose[idx][3] > min_score)
             {
-                valid_joint_idx.push_back(j);
+                valid_joint_idx.push_back(idx);
             }
         }
 
@@ -2102,6 +2104,23 @@ void TriangulatorInternal::filter_poses(
             continue;
         }
 
+        // Set joint scores outside the room to a low value
+        for (size_t j = 0; j < num_full_joints; ++j)
+        {
+            if (pose[j][3] > min_score)
+            {
+                for (int k = 0; k < 3; ++k)
+                {
+                    if (pose[j][k] > room_half_size[k] + room_center[k] + wdist ||
+                        pose[j][k] < -room_half_size[k] + room_center[k] - wdist)
+                    {
+                        pose[j][3] = 0.001;
+                        break;
+                    }
+                }
+            }
+        }
+
         // Calculate total limb length and average limb length
         const float max_avg_length = 0.5;
         const float min_avg_length = 0.1;