From 6ed93260601ee2295aac85253e24c7ff81cdf3e0 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Thu, 20 Mar 2025 15:13:55 +0100
Subject: [PATCH] Reduced whole-body fp16 degradation.

---
 extras/mmdeploy/README.md |    4 +-
 media/RESULTS.md          | 3410 ++++++++++++++++++-------------------
 scripts/utils_2d_pose.hpp |    4 +-
 3 files changed, 1709 insertions(+), 1709 deletions(-)

diff --git a/extras/mmdeploy/README.md b/extras/mmdeploy/README.md
index 5267815..ab35740 100644
--- a/extras/mmdeploy/README.md
+++ b/extras/mmdeploy/README.md
@@ -61,7 +61,7 @@ mv /mmdeploy/work_dir/end2end.onnx /RapidPoseTriangulation/extras/mmdeploy/expor
 python3 ./tools/deploy.py \
     configs/mmpose/pose-detection_simcc_onnxruntime_static-384x288"$withFP16".py \
     /mmpose/projects/rtmpose/rtmpose/wholebody_2d_keypoint/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py \
-    https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-coco-wholebody_pt-aic-coco_270e-384x288-eaeb96c8_20230125.pth \
+    https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-ucoco_dw-ucoco_270e-384x288-2438fd99_20230728.pth \
     /mmpose/projects/rtmpose/examples/onnxruntime/human-pose.jpeg \
     --work-dir work_dir \
     --show
@@ -70,7 +70,7 @@ mv /mmdeploy/work_dir/end2end.onnx /RapidPoseTriangulation/extras/mmdeploy/expor
 python3 ./tools/deploy.py \
     configs/mmpose/pose-detection_simcc_onnxruntime_dynamic-384x288"$withFP16".py \
     /mmpose/projects/rtmpose/rtmpose/wholebody_2d_keypoint/rtmpose-l_8xb32-270e_coco-wholebody-384x288.py \
-    https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-coco-wholebody_pt-aic-coco_270e-384x288-eaeb96c8_20230125.pth \
+    https://download.openmmlab.com/mmpose/v1/projects/rtmposev1/rtmpose-l_simcc-ucoco_dw-ucoco_270e-384x288-2438fd99_20230728.pth \
     /mmpose/projects/rtmpose/examples/onnxruntime/human-pose.jpeg \
     --work-dir work_dir \
     --show
diff --git a/media/RESULTS.md b/media/RESULTS.md
index d68dc51..2ac8533 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -3389,26 +3389,26 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0234424,
-  "demosaicing": 0.000597094,
-  "avg_time_2d": 0.0198536,
-  "avg_time_3d": 0.000112059,
-  "fps": 48.6316
+  "img_loading": 0.0246942,
+  "demosaicing": 0.000556762,
+  "avg_time_2d": 0.0115013,
+  "avg_time_3d": 0.00011838,
+  "fps": 82.1256
 }
 {
   "triangulator_calls": 200,
-  "init_time": 2.70115e-06,
-  "undistort_time": 2.53665e-05,
-  "project_time": 1.6065e-08,
-  "match_time": 1.628e-08,
-  "pairs_time": 1.9413e-07,
-  "pair_scoring_time": 5.7196e-06,
-  "grouping_time": 1.00915e-06,
-  "full_time": 4.30448e-05,
-  "merge_time": 1.30653e-05,
-  "post_time": 1.55649e-05,
-  "convert_time": 5.80455e-07,
-  "total_time": 0.000107512
+  "init_time": 3.10138e-06,
+  "undistort_time": 2.52871e-05,
+  "project_time": 1.612e-08,
+  "match_time": 1.613e-08,
+  "pairs_time": 2.02095e-07,
+  "pair_scoring_time": 6.11526e-06,
+  "grouping_time": 9.92025e-07,
+  "full_time": 4.40553e-05,
+  "merge_time": 1.63145e-05,
+  "post_time": 1.70945e-05,
+  "convert_time": 2.7205e-07,
+  "total_time": 0.000113703
 }
 {
   "person_nums": {
@@ -3427,101 +3427,101 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
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-    "recall-0.025": 0.04,
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-    "recall-0.1": 0.985,
+    "mean": 0.048935,
+    "median": 0.044219,
+    "std": 0.02025,
+    "sem": 0.001435,
+    "min": 0.020904,
+    "max": 0.195611,
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+    "recall-0.1": 0.98,
     "recall-0.15": 0.995,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
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-    "ap-0.05": 0.66356,
-    "ap-0.1": 0.979258,
-    "ap-0.15": 0.994125,
+    "ap-0.025": 0.010476,
+    "ap-0.05": 0.548446,
+    "ap-0.1": 0.974128,
+    "ap-0.15": 0.995,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
   "nose": {
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     "num_labels": 200
   },
   "eye_left": {
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   "eye_right": {
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+    "mean": 0.039076,
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@@ -3529,15 +3529,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
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+    "mean": 0.021471,
+    "median": 0.017631,
+    "std": 0.015244,
+    "sem": 0.001081,
+    "min": 0.0019,
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+    "recall-0.1": 0.99,
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     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -3545,13 +3545,13 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 200,
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-    "median": 0.022359,
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     "recall-0.15": 1.0,
@@ -3561,79 +3561,79 @@ Results of the model in various experiments on different datasets. \
   },
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     "num_labels": 200
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@@ -3641,15 +3641,15 @@ Results of the model in various experiments on different datasets. \
   },
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@@ -3657,15 +3657,15 @@ Results of the model in various experiments on different datasets. \
   },
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@@ -3673,31 +3673,31 @@ Results of the model in various experiments on different datasets. \
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@@ -3705,511 +3705,511 @@ Results of the model in various experiments on different datasets. \
   },
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+    "mean": 0.063122,
+    "median": 0.031017,
+    "std": 0.081317,
+    "sem": 0.005853,
+    "min": 0.002222,
+    "max": 0.458341,
+    "recall-0.025": 0.405,
+    "recall-0.05": 0.645,
+    "recall-0.1": 0.785,
+    "recall-0.15": 0.855,
+    "recall-0.25": 0.92,
+    "recall-0.5": 0.97,
     "num_labels": 200
   },
   "hand_finger_ring_right_3": {
-    "count": 199,
-    "mean": 0.052067,
-    "median": 0.028056,
-    "std": 0.071552,
-    "sem": 0.005085,
-    "min": 0.001914,
-    "max": 0.471708,
-    "recall-0.025": 0.44,
-    "recall-0.05": 0.675,
-    "recall-0.1": 0.88,
-    "recall-0.15": 0.93,
-    "recall-0.25": 0.965,
-    "recall-0.5": 0.995,
+    "count": 195,
+    "mean": 0.06565,
+    "median": 0.032731,
+    "std": 0.083386,
+    "sem": 0.005987,
+    "min": 0.003456,
+    "max": 0.46108,
+    "recall-0.025": 0.4,
+    "recall-0.05": 0.65,
+    "recall-0.1": 0.79,
+    "recall-0.15": 0.855,
+    "recall-0.25": 0.92,
+    "recall-0.5": 0.975,
     "num_labels": 200
   },
   "hand_finger_ring_right_4": {
     "count": 198,
-    "mean": 0.054414,
-    "median": 0.031793,
-    "std": 0.064524,
-    "sem": 0.004597,
-    "min": 0.00519,
-    "max": 0.43967,
-    "recall-0.025": 0.375,
-    "recall-0.05": 0.665,
-    "recall-0.1": 0.86,
+    "mean": 0.050969,
+    "median": 0.028938,
+    "std": 0.071795,
+    "sem": 0.005115,
+    "min": 0.002624,
+    "max": 0.492536,
+    "recall-0.025": 0.435,
+    "recall-0.05": 0.735,
+    "recall-0.1": 0.88,
     "recall-0.15": 0.93,
-    "recall-0.25": 0.97,
+    "recall-0.25": 0.965,
     "recall-0.5": 0.99,
     "num_labels": 200
   },
   "hand_finger_pinky_right_1": {
-    "count": 199,
-    "mean": 0.049704,
-    "median": 0.029558,
-    "std": 0.067525,
-    "sem": 0.004799,
-    "min": 0.002881,
-    "max": 0.491026,
-    "recall-0.025": 0.425,
-    "recall-0.05": 0.715,
-    "recall-0.1": 0.91,
-    "recall-0.15": 0.94,
-    "recall-0.25": 0.965,
-    "recall-0.5": 0.995,
+    "count": 197,
+    "mean": 0.05197,
+    "median": 0.029462,
+    "std": 0.066385,
+    "sem": 0.004742,
+    "min": 0.002175,
+    "max": 0.487634,
+    "recall-0.025": 0.435,
+    "recall-0.05": 0.68,
+    "recall-0.1": 0.855,
+    "recall-0.15": 0.935,
+    "recall-0.25": 0.96,
+    "recall-0.5": 0.985,
     "num_labels": 200
   },
   "hand_finger_pinky_right_2": {
-    "count": 198,
-    "mean": 0.048376,
-    "median": 0.03046,
-    "std": 0.061096,
-    "sem": 0.004353,
-    "min": 0.003316,
-    "max": 0.45742,
-    "recall-0.025": 0.39,
-    "recall-0.05": 0.71,
-    "recall-0.1": 0.905,
-    "recall-0.15": 0.94,
-    "recall-0.25": 0.975,
-    "recall-0.5": 0.99,
+    "count": 197,
+    "mean": 0.056038,
+    "median": 0.031566,
+    "std": 0.062108,
+    "sem": 0.004436,
+    "min": 0.002585,
+    "max": 0.336323,
+    "recall-0.025": 0.355,
+    "recall-0.05": 0.67,
+    "recall-0.1": 0.835,
+    "recall-0.15": 0.895,
+    "recall-0.25": 0.96,
+    "recall-0.5": 0.985,
     "num_labels": 200
   },
   "hand_finger_pinky_right_3": {
-    "count": 199,
-    "mean": 0.049176,
-    "median": 0.029339,
-    "std": 0.064938,
-    "sem": 0.004615,
-    "min": 0.002493,
-    "max": 0.496659,
-    "recall-0.025": 0.415,
-    "recall-0.05": 0.705,
-    "recall-0.1": 0.905,
-    "recall-0.15": 0.945,
-    "recall-0.25": 0.975,
-    "recall-0.5": 0.995,
+    "count": 196,
+    "mean": 0.05204,
+    "median": 0.029788,
+    "std": 0.056601,
+    "sem": 0.004053,
+    "min": 0.002628,
+    "max": 0.328673,
+    "recall-0.025": 0.38,
+    "recall-0.05": 0.685,
+    "recall-0.1": 0.82,
+    "recall-0.15": 0.905,
+    "recall-0.25": 0.965,
+    "recall-0.5": 0.98,
     "num_labels": 200
   },
   "hand_finger_pinky_right_4": {
     "count": 197,
-    "mean": 0.048137,
-    "median": 0.032354,
-    "std": 0.049112,
-    "sem": 0.003508,
-    "min": 0.00184,
-    "max": 0.31696,
-    "recall-0.025": 0.4,
-    "recall-0.05": 0.67,
-    "recall-0.1": 0.905,
-    "recall-0.15": 0.94,
+    "mean": 0.047193,
+    "median": 0.028867,
+    "std": 0.059388,
+    "sem": 0.004242,
+    "min": 0.001909,
+    "max": 0.494789,
+    "recall-0.025": 0.43,
+    "recall-0.05": 0.72,
+    "recall-0.1": 0.88,
+    "recall-0.15": 0.955,
     "recall-0.25": 0.97,
     "recall-0.5": 0.985,
     "num_labels": 200
   },
   "hip_middle": {
     "count": 200,
-    "mean": 0.029545,
-    "median": 0.026042,
-    "std": 0.015188,
-    "sem": 0.001077,
-    "min": 0.003985,
-    "max": 0.099106,
+    "mean": 0.029419,
+    "median": 0.025802,
+    "std": 0.015024,
+    "sem": 0.001065,
+    "min": 0.002918,
+    "max": 0.084958,
     "recall-0.025": 0.46,
-    "recall-0.05": 0.88,
+    "recall-0.05": 0.92,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -5593,14 +5593,14 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_middle": {
     "count": 200,
-    "mean": 0.018895,
-    "median": 0.017164,
-    "std": 0.009273,
-    "sem": 0.000657,
-    "min": 0.002107,
-    "max": 0.053975,
-    "recall-0.025": 0.77,
-    "recall-0.05": 0.995,
+    "mean": 0.019468,
+    "median": 0.017132,
+    "std": 0.010311,
+    "sem": 0.000731,
+    "min": 0.002019,
+    "max": 0.049696,
+    "recall-0.025": 0.73,
+    "recall-0.05": 1.0,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -5609,15 +5609,15 @@ Results of the model in various experiments on different datasets. \
   },
   "head": {
     "count": 200,
-    "mean": 0.031599,
-    "median": 0.028287,
-    "std": 0.018928,
-    "sem": 0.001342,
-    "min": 0.002955,
-    "max": 0.112382,
-    "recall-0.025": 0.455,
-    "recall-0.05": 0.845,
-    "recall-0.1": 0.99,
+    "mean": 0.029332,
+    "median": 0.027096,
+    "std": 0.016628,
+    "sem": 0.001179,
+    "min": 0.004265,
+    "max": 0.099312,
+    "recall-0.025": 0.445,
+    "recall-0.05": 0.895,
+    "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -5625,50 +5625,50 @@ Results of the model in various experiments on different datasets. \
   },
   "body_errors": {
     "body": {
-      "count": 5200,
-      "mean": 0.029837,
-      "median": 0.023603,
-      "std": 0.02493,
-      "sem": 0.001767,
-      "min": 0.002892,
-      "max": 0.176457,
+      "count": 5198,
+      "mean": 0.028141,
+      "median": 0.021959,
+      "std": 0.025216,
+      "sem": 0.001788,
+      "min": 0.002768,
+      "max": 0.194931,
       "num_labels": 5200
     },
     "face": {
-      "count": 13597,
-      "mean": 0.048196,
-      "median": 0.039482,
-      "std": 0.032806,
-      "sem": 0.002326,
-      "min": 0.005402,
-      "max": 0.220999,
+      "count": 13598,
+      "mean": 0.052245,
+      "median": 0.041889,
+      "std": 0.037544,
+      "sem": 0.002662,
+      "min": 0.006481,
+      "max": 0.26744,
       "num_labels": 13600
     },
     "hand": {
-      "count": 8362,
-      "mean": 0.046332,
-      "median": 0.027182,
-      "std": 0.057654,
-      "sem": 0.004097,
-      "min": 0.002976,
-      "max": 0.389182,
+      "count": 8310,
+      "mean": 0.048298,
+      "median": 0.02652,
+      "std": 0.061397,
+      "sem": 0.004378,
+      "min": 0.00274,
+      "max": 0.402275,
       "num_labels": 8400
     }
   },
   "joint_recalls": {
     "num_labels": 27200,
-    "recall-0.025": 0.40309,
-    "recall-0.05": 0.7118,
-    "recall-0.1": 0.9196,
-    "recall-0.15": 0.96868,
-    "recall-0.25": 0.99143,
-    "recall-0.5": 0.99849
+    "recall-0.025": 0.3964,
+    "recall-0.05": 0.70114,
+    "recall-0.1": 0.89996,
+    "recall-0.15": 0.95963,
+    "recall-0.25": 0.9871,
+    "recall-0.5": 0.99654
   }
 }
 {
   "total_parts": 2800,
-  "correct_parts": 2791,
-  "pcp": 0.996786
+  "correct_parts": 2792,
+  "pcp": 0.997143
 }
 ```
 
diff --git a/scripts/utils_2d_pose.hpp b/scripts/utils_2d_pose.hpp
index 6be1d45..2fd98c5 100644
--- a/scripts/utils_2d_pose.hpp
+++ b/scripts/utils_2d_pose.hpp
@@ -1079,8 +1079,8 @@ namespace utils_2d_pose
 
             std::string path_pose_m1 = base_path + "rtmpose-m_1x384x288x3_fp16_extra-steps.onnx";
             std::string path_pose_mb = base_path + "rtmpose-m_Bx384x288x3_fp16_extra-steps.onnx";
-            std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_extra-steps.onnx";
-            std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_extra-steps.onnx";
+            std::string path_pose_w1 = base_path + "rtmpose-l_wb_1x384x288x3_fp16_extra-steps.onnx";
+            std::string path_pose_wb = base_path + "rtmpose-l_wb_Bx384x288x3_fp16_extra-steps.onnx";
 
             this->num_joints = whole_body ? 133 : 17;
             std::string path_det;