crosstyan/RapidPoseTriangulation
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Small updates.

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This commit is contained in:
Daniel
2025-03-03 14:52:43 +01:00
parent 7b99a38ce2
commit bb5b99c566
1 changed files with 5 additions and 3 deletions
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8
rpt/triangulator.cpp
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@ -1514,8 +1514,8 @@ TriangulatorInternal::calc_grouping(
const std::vector<std::pair<std::vector<std::array<float, 4>>, float>> &all_scored_poses, const std::vector<std::pair<std::vector<std::array<float, 4>>, float>> &all_scored_poses,
float min_score) float min_score)
{ {
float max_center_dist_sq = 0.6 * 0.6; float max_center_dist_sq = 0.75 * 0.75;
float max_joint_avg_dist = 0.3; float max_joint_avg_dist = 0.25;
size_t num_pairs = all_pairs.size(); size_t num_pairs = all_pairs.size();
// Calculate pose centers // Calculate pose centers
@ -1551,7 +1551,9 @@ TriangulatorInternal::calc_grouping(
// Calculate Groups // Calculate Groups
// defined as a tuple of center, pose, and all-pairs-indices of members // defined as a tuple of center, pose, and all-pairs-indices of members
std::vector<std::tuple<std::array<float, 3>, std::vector<std::array<float, 4>>, std::vector<int>>> groups; std::vector<std::tuple<
std::array<float, 3>, std::vector<std::array<float, 4>>, std::vector<int>>>
groups;
std::vector<std::vector<size_t>> per_group_visible_counts; std::vector<std::vector<size_t>> per_group_visible_counts;
for (size_t i = 0; i < num_pairs; ++i) for (size_t i = 0; i < num_pairs; ++i)
{ {