From 8fdf0d4096faef89af96dc39e8eeee210895ddb8 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Tue, 21 Oct 2025 16:20:51 +0200
Subject: [PATCH] Slightly improved tracker.

---
 media/RESULTS.md               | 1330 ++++++++++++++++----------------
 rpt/tracker.hpp                |   38 +-
 scripts/test_skelda_dataset.py |    4 +-
 skelda                         |    2 +-
 4 files changed, 691 insertions(+), 683 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index d1900ff..17554ad 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -321,16 +321,16 @@ Results of the model in various experiments on different datasets. \
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     "total_labels": 477,
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@@ -348,11 +348,11 @@ Results of the model in various experiments on different datasets. \
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@@ -629,16 +629,16 @@ Results of the model in various experiments on different datasets. \
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     "total_labels": 376,
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@@ -657,10 +657,10 @@ Results of the model in various experiments on different datasets. \
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@@ -1141,20 +1141,20 @@ Results of the model in various experiments on different datasets. \
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@@ -1167,12 +1167,12 @@ Results of the model in various experiments on different datasets. \
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@@ -1368,16 +1368,16 @@ Results of the model in various experiments on different datasets. \
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+    "recall-0.1": 0.83728,
+    "recall-0.15": 0.87451,
+    "recall-0.25": 0.90579,
+    "recall-0.5": 0.9347
   }
 }
 {
   "total_parts": 20444,
-  "correct_parts": 18597,
-  "pcp": 0.909656
+  "correct_parts": 18480,
+  "pcp": 0.903933
 }
 ```
 
@@ -1717,22 +1717,22 @@ Results of the model in various experiments on different datasets. \
   "person_nums": {
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     "total_labels": 1466,
-    "total_preds": 1525,
+    "total_preds": 1522,
     "considered_empty": 0,
     "valid_preds": 1465,
-    "invalid_preds": 60,
+    "invalid_preds": 57,
     "missing": 1,
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-    "precision": 0.96066,
+    "invalid_fraction": 0.03745,
+    "precision": 0.96255,
     "recall": 0.99932,
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-    "non_empty": 1525
+    "f1": 0.98059,
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     "sem": 0.000289,
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@@ -1743,12 +1743,12 @@ Results of the model in various experiments on different datasets. \
     "recall-0.25": 0.999318,
     "recall-0.5": 0.999318,
     "num_labels": 1466,
-    "ap-0.025": 0.370102,
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+    "ap-0.025": 0.370901,
+    "ap-0.05": 0.928802,
+    "ap-0.1": 0.99004,
+    "ap-0.15": 0.990699,
+    "ap-0.25": 0.990699,
+    "ap-0.5": 0.990699
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   "nose": {
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@@ -1944,16 +1944,16 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
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-    "mean": 0.050498,
+    "mean": 0.050482,
     "median": 0.029992,
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+    "std": 0.062538,
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     "recall-0.05": 0.74863,
     "recall-0.1": 0.884247,
-    "recall-0.15": 0.932192,
+    "recall-0.15": 0.932877,
     "recall-0.25": 0.971918,
     "recall-0.5": 0.997945,
     "num_labels": 1460
@@ -1963,7 +1963,7 @@ Results of the model in various experiments on different datasets. \
     "recall-0.025": 0.62717,
     "recall-0.05": 0.89189,
     "recall-0.1": 0.97183,
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+    "recall-0.15": 0.98499,
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   }
@@ -2005,16 +2005,16 @@ Results of the model in various experiments on different datasets. \
   "person_nums": {
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     "total_labels": 1466,
-    "total_preds": 1514,
+    "total_preds": 1511,
     "considered_empty": 0,
     "valid_preds": 1465,
-    "invalid_preds": 49,
+    "invalid_preds": 46,
     "missing": 1,
-    "invalid_fraction": 0.03236,
-    "precision": 0.96764,
+    "invalid_fraction": 0.03044,
+    "precision": 0.96956,
     "recall": 0.99932,
-    "f1": 0.98322,
-    "non_empty": 1514
+    "f1": 0.98421,
+    "non_empty": 1511
   },
   "mpjpe": {
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@@ -2293,16 +2293,16 @@ Results of the model in various experiments on different datasets. \
   "person_nums": {
     "total_frames": 420,
     "total_labels": 1466,
-    "total_preds": 1510,
+    "total_preds": 1507,
     "considered_empty": 0,
     "valid_preds": 1465,
-    "invalid_preds": 45,
+    "invalid_preds": 42,
     "missing": 1,
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+    "f1": 0.98554,
+    "non_empty": 1507
   },
   "mpjpe": {
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@@ -2319,12 +2319,12 @@ Results of the model in various experiments on different datasets. \
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     "recall-0.5": 0.999318,
     "num_labels": 1466,
-    "ap-0.025": 0.786577,
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@@ -2882,149 +2882,149 @@ Results of the model in various experiments on different datasets. \
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@@ -3032,46 +3032,46 @@ Results of the model in various experiments on different datasets. \
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@@ -3080,50 +3080,50 @@ Results of the model in various experiments on different datasets. \
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   "joint_recalls": {
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     "recall-0.5": 0.99882
   }
 }
 {
   "total_parts": 10920,
-  "correct_parts": 10804,
-  "pcp": 0.989377
+  "correct_parts": 10813,
+  "pcp": 0.990201
 }
 ```
 
@@ -5951,8 +5951,8 @@ Results of the model in various experiments on different datasets. \
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     },
     "face": {
@@ -5961,8 +5961,8 @@ Results of the model in various experiments on different datasets. \
       "median": 0.038483,
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       "sem": 0.003145,
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     "hand": {
@@ -5971,8 +5971,8 @@ Results of the model in various experiments on different datasets. \
       "median": 0.025051,
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       "sem": 0.003466,
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     }
   },
@@ -6025,16 +6025,16 @@ Results of the model in various experiments on different datasets. \
   "person_nums": {
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     "total_labels": 400,
-    "total_preds": 439,
+    "total_preds": 417,
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+    "f1": 0.97919,
+    "non_empty": 417
   },
   "mpjpe": {
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@@ -6052,11 +6052,11 @@ Results of the model in various experiments on different datasets. \
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     "num_labels": 400,
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+    "ap-0.15": 0.959821,
+    "ap-0.25": 0.982779,
+    "ap-0.5": 0.999416
   },
   "head": {
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@@ -6889,16 +6889,16 @@ Results of the model in various experiments on different datasets. \
   "person_nums": {
     "total_frames": 110,
     "total_labels": 330,
-    "total_preds": 440,
+    "total_preds": 439,
     "considered_empty": 0,
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     "missing": 0,
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+    "invalid_fraction": 0.24829,
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@@ -7151,75 +7151,75 @@ Results of the model in various experiments on different datasets. \
 
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@@ -7420,18 +7420,18 @@ Results of the model in various experiments on different datasets. \
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-  "correct_parts": 6770,
-  "pcp": 0.999115
+  "correct_parts": 6774,
+  "pcp": 0.999705
 }
 ```
 
@@ -7478,21 +7478,21 @@ Results of the model in various experiments on different datasets. \
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@@ -7500,14 +7500,14 @@ Results of the model in various experiments on different datasets. \
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@@ -7516,14 +7516,14 @@ Results of the model in various experiments on different datasets. \
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@@ -7532,14 +7532,14 @@ Results of the model in various experiments on different datasets. \
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@@ -7548,13 +7548,13 @@ Results of the model in various experiments on different datasets. \
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@@ -7564,14 +7564,14 @@ Results of the model in various experiments on different datasets. \
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-    "recall-0.05": 0.949454,
+    "mean": 0.022531,
+    "median": 0.019056,
+    "std": 0.014373,
+    "sem": 0.000532,
+    "min": 0.002536,
+    "max": 0.116187,
+    "recall-0.025": 0.70082,
+    "recall-0.05": 0.948087,
     "recall-0.1": 0.998634,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -7580,12 +7580,12 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 732,
-    "mean": 0.027005,
-    "median": 0.022869,
-    "std": 0.018836,
-    "sem": 0.000697,
-    "min": 0.002449,
-    "max": 0.167194,
+    "mean": 0.026998,
+    "median": 0.022884,
+    "std": 0.01881,
+    "sem": 0.000696,
+    "min": 0.002431,
+    "max": 0.167217,
     "recall-0.025": 0.543716,
     "recall-0.05": 0.919399,
     "recall-0.1": 0.989071,
@@ -7596,12 +7596,12 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_right": {
     "count": 732,
-    "mean": 0.026409,
-    "median": 0.023054,
+    "mean": 0.026406,
+    "median": 0.023178,
     "std": 0.017127,
     "sem": 0.000633,
-    "min": 0.003,
-    "max": 0.17917,
+    "min": 0.00323,
+    "max": 0.179281,
     "recall-0.025": 0.579235,
     "recall-0.05": 0.934426,
     "recall-0.1": 0.993169,
@@ -7612,14 +7612,14 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_left": {
     "count": 732,
-    "mean": 0.027544,
-    "median": 0.025475,
-    "std": 0.013696,
+    "mean": 0.027537,
+    "median": 0.025448,
+    "std": 0.013704,
     "sem": 0.000507,
-    "min": 0.003,
-    "max": 0.099222,
-    "recall-0.025": 0.472678,
-    "recall-0.05": 0.939891,
+    "min": 0.002388,
+    "max": 0.099204,
+    "recall-0.025": 0.476776,
+    "recall-0.05": 0.938525,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -7628,13 +7628,13 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
     "count": 732,
-    "mean": 0.025339,
-    "median": 0.023206,
-    "std": 0.012605,
+    "mean": 0.025317,
+    "median": 0.023138,
+    "std": 0.012607,
     "sem": 0.000466,
-    "min": 0.002236,
-    "max": 0.095231,
-    "recall-0.025": 0.558743,
+    "min": 0.001915,
+    "max": 0.095133,
+    "recall-0.025": 0.560109,
     "recall-0.05": 0.960383,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
@@ -7644,12 +7644,12 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 732,
-    "mean": 0.017737,
-    "median": 0.016763,
-    "std": 0.008534,
+    "mean": 0.01773,
+    "median": 0.016839,
+    "std": 0.008545,
     "sem": 0.000316,
-    "min": 0.002236,
-    "max": 0.0736,
+    "min": 0.002003,
+    "max": 0.073825,
     "recall-0.025": 0.84153,
     "recall-0.05": 0.993169,
     "recall-0.1": 1.0,
@@ -7660,13 +7660,13 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 732,
-    "mean": 0.019955,
-    "median": 0.018655,
-    "std": 0.009314,
-    "sem": 0.000344,
-    "min": 0.001414,
-    "max": 0.068535,
-    "recall-0.025": 0.747268,
+    "mean": 0.019948,
+    "median": 0.018539,
+    "std": 0.009324,
+    "sem": 0.000345,
+    "min": 0.001853,
+    "max": 0.068675,
+    "recall-0.025": 0.751366,
     "recall-0.05": 0.993169,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
@@ -7676,13 +7676,13 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 732,
-    "mean": 0.019438,
-    "median": 0.018014,
-    "std": 0.009897,
+    "mean": 0.019416,
+    "median": 0.017956,
+    "std": 0.009896,
     "sem": 0.000366,
-    "min": 0.001732,
-    "max": 0.073137,
-    "recall-0.025": 0.762295,
+    "min": 0.00198,
+    "max": 0.072761,
+    "recall-0.025": 0.765027,
     "recall-0.05": 0.987705,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
@@ -7692,13 +7692,13 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 732,
-    "mean": 0.020421,
-    "median": 0.018493,
+    "mean": 0.020424,
+    "median": 0.018635,
     "std": 0.010098,
     "sem": 0.000373,
-    "min": 0.002,
-    "max": 0.089811,
-    "recall-0.025": 0.734973,
+    "min": 0.001654,
+    "max": 0.090195,
+    "recall-0.025": 0.741803,
     "recall-0.05": 0.986339,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
@@ -7708,8 +7708,8 @@ Results of the model in various experiments on different datasets. \
   },
   "joint_recalls": {
     "num_labels": 9516,
-    "recall-0.025": 0.62589,
-    "recall-0.05": 0.94798,
+    "recall-0.025": 0.62831,
+    "recall-0.05": 0.94756,
     "recall-0.1": 0.99538,
     "recall-0.15": 0.99937,
     "recall-0.25": 1.0,
diff --git a/rpt/tracker.hpp b/rpt/tracker.hpp
index d8049da..53be2b4 100644
--- a/rpt/tracker.hpp
+++ b/rpt/tracker.hpp
@@ -156,7 +156,7 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
         }
     }
 
-    // Remove old tracks
+    // Remove old track entries
     timestamps.push_back(timestamp);
     if (timestamps.size() > history_size)
     {
@@ -166,8 +166,21 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
     for (size_t i = 0; i < pose_tracks.size();)
     {
         auto &track = pose_tracks[i];
-        double last_timestamp = track.timestamps.back();
-        if (last_timestamp < max_age)
+        for (size_t j = 0; j < track.timestamps.size();)
+        {
+            double ts = track.timestamps[j];
+            if (ts < max_age)
+            {
+                track.core_poses.erase(track.core_poses.begin() + j);
+                track.full_poses.erase(track.full_poses.begin() + j);
+                track.timestamps.erase(track.timestamps.begin() + j);
+            }
+            else
+            {
+                j++;
+            }
+        }
+        if (track.timestamps.size() == 0)
         {
             pose_tracks.erase(pose_tracks.begin() + i);
         }
@@ -177,23 +190,15 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
         }
     }
 
-    // Remove old poses from tracks
-    for (auto &track : pose_tracks)
-    {
-        while (track.core_poses.size() > history_size)
-        {
-            track.core_poses.erase(track.core_poses.begin());
-            track.full_poses.erase(track.full_poses.begin());
-            track.timestamps.erase(track.timestamps.begin());
-        }
-    }
-
     // Refine poses
     std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> tracked_poses;
     for (size_t i = 0; i < pose_tracks.size(); ++i)
     {
         auto &track = pose_tracks[i];
-        if (track.core_poses.size() > 0)
+        // Create a refined pose for current tracks, or old tracks with a bit history,
+        // to avoid continuing tracks of flickering persons
+        if (track.core_poses.size() >= std::ceil(history_size / 2.0) ||
+            track.timestamps.back() == timestamps.back())
         {
             std::vector<std::array<float, 4>> refined_pose = refine_pose(track);
             tracked_poses.emplace_back(track.id, refined_pose);
@@ -205,7 +210,8 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
 
 // =================================================================================================
 
-std::tuple<int, float> PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d)
+std::tuple<int, float> PoseTracker::match_to_track(
+    const std::vector<std::array<float, 4>> &core_pose_3d)
 {
     int best_track = -1;
     float best_distance_sq = max_distance * max_distance;
diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py
index 102be53..00381c3 100644
--- a/scripts/test_skelda_dataset.py
+++ b/scripts/test_skelda_dataset.py
@@ -128,6 +128,8 @@ datasets = {
         "path": "/datasets/chi3d/skelda/all.json",
         "take_interval": 5,
         "fps": 50,
+        "min_match_score": 0.92,
+        "min_bbox_area": 0.2 * 0.2,
         "max_track_distance": 0.3 + default_max_movement_speed / (50 / 5),
     },
     "tsinghua": {
@@ -193,7 +195,7 @@ datasets = {
         "subset": "volleyball",
         "min_match_score": 0.95,
         "min_group_size": 7,
-        "min_bbox_score": 0.25,
+        "min_bbox_score": 0.20,
         "min_bbox_area": 0.05 * 0.05,
         "max_movement_speed": 4.0 * 1.5,
         "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
diff --git a/skelda b/skelda
index 56dc0c1..d48d65b 160000
--- a/skelda
+++ b/skelda
@@ -1 +1 @@
-Subproject commit 56dc0c18ac5e81ab8e5618336496e6ccb7c7ae03
+Subproject commit d48d65b9614ddf6fb3e45d05efdbf2a90cadfc21