Small updates.

extras/jetson/docker-compose-2d.yml

@@ -12,6 +12,7 @@ services:
             - /tmp/.X11-unix:/tmp/.X11-unix
             - /dev/shm:/dev/shm
         environment:
+            - CAMID
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"

extras/ros/docker-compose-2d.yml

@@ -12,6 +12,7 @@ services:
             - /tmp/.X11-unix:/tmp/.X11-unix
             - /dev/shm:/dev/shm
         environment:
+            - CAMID
             - DISPLAY
             - QT_X11_NO_MITSHM=1
             - "PYTHONUNBUFFERED=1"

extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp

@@ -36,7 +36,7 @@ static const std::string pose_in_topic = "/poses/{}";
 static const std::string cam_info_topic = "/{}/calibration";
 static const std::string pose_out_topic = "/poses/humans3d";
 
-static const float min_match_score = 0.95;
+static const float min_match_score = 0.92;
 static const size_t min_group_size = 1;
 
 static const std::array<std::array<float, 3>, 2> roomparams = {{

rpt/triangulator.cpp

@@ -781,10 +781,6 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
         all_scored_poses[i] = std::move(std::make_pair(pose3d, score));
     }
 
-    elapsed = std::chrono::steady_clock::now() - stime;
-    pair_scoring_time += elapsed.count();
-    stime = std::chrono::steady_clock::now();
-
     // Drop low scoring poses
     size_t num_poses = all_scored_poses.size();
     for (size_t i = num_poses; i > 0; --i)
@@ -796,6 +792,10 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
         }
     }
 
+    elapsed = std::chrono::steady_clock::now() - stime;
+    pair_scoring_time += elapsed.count();
+    stime = std::chrono::steady_clock::now();
+
     // Group pairs that share a person
     std::vector<std::tuple<
         std::array<float, 3>, std::vector<std::array<float, 4>>, std::vector<int>>>