diff --git a/extras/jetson/README.md b/extras/jetson/README.md
new file mode 100644
index 0000000..2a38870
--- /dev/null
+++ b/extras/jetson/README.md
@@ -0,0 +1,129 @@
+# Setup with Nvidia-Jetson-Orin
+
+Initial setup and installation of _RapidPoseTriangulation_ on a _Nvidia Jetson_ device. \
+Tested with a _Jetson AGX Orin Developer Kit_ module.
+
+
+
+## Base installation
+
+- Install newest software image: \
+ (https://developer.nvidia.com/sdk-manager)
+
+- Initialize system: \
+ (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install basic tools:
+
+ ```bash
+ sudo apt install -y curl nano wget git
+ ```
+
+- Test docker is working:
+
+ ```bash
+ sudo docker run --rm hello-world
+ ```
+
+- Enable _docker_ without _sudo_: \
+ (https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
+
+- Enable GPU-access for docker building:
+
+ Run `sudo nano /etc/docker/daemon.json` and add:
+
+ ```json
+ {
+ "runtimes": {
+ "nvidia": {
+ "args": [],
+ "path": "nvidia-container-runtime"
+ }
+ },
+ "default-runtime": "nvidia"
+ }
+ ```
+
+ Restart docker: `sudo systemctl restart docker`
+
+- Test docker is working:
+
+ ```bash
+ docker run --rm hello-world
+ docker run -it --rm --runtime=nvidia --network=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:r36.2.0
+ docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
+ ```
+
+- Enable maximum performance mode:
+
+ ```bash
+ sudo nvpmodel -m 0
+ sudo jetson_clocks
+ ```
+
+
+
+## RPT installation
+
+- Build docker container:
+
+ ```bash
+ docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
+ ./run_container.sh
+ ```
+
+- Build _rpt_ package inside container:
+
+ ```bash
+ cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
+
+ cd /RapidPoseTriangulation/scripts/ && \
+ g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
+ -I /RapidPoseTriangulation/rpt/ \
+ -isystem /usr/include/opencv4/ \
+ -isystem /usr/local/include/onnxruntime/ \
+ -L /usr/local/lib/ \
+ test_skelda_dataset.cpp \
+ /RapidPoseTriangulation/rpt/*.cpp \
+ -o test_skelda_dataset.bin \
+ -Wl,--start-group \
+ -lonnxruntime_providers_tensorrt \
+ -lonnxruntime_providers_shared \
+ -lonnxruntime_providers_cuda \
+ -lonnxruntime \
+ -Wl,--end-group \
+ $(pkg-config --libs opencv4) \
+ -Wl,-rpath,/onnxruntime/build/Linux/Release/ \
+ && cd ..
+ ```
+
+- Test with samples:
+
+ ```bash
+ python3 /RapidPoseTriangulation/scripts/test_triangulate.py
+ ```
+
+- Evaluate datasets:
+
+ ```bash
+ python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
+ ```
+
+
+
+## ROS interface
+
+- Build docker container:
+
+ ```bash
+ docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
+ ./run_container.sh
+ ```
+
+- Run and test:
+ ```bash
+ xhost +; docker compose -f extras/jetson/docker-compose.yml up
+
+ docker exec -it ros-test_node-1 bash
+ export ROS_DOMAIN_ID=18
+ ```
diff --git a/extras/jetson/RESULTS.md b/extras/jetson/RESULTS.md
new file mode 100644
index 0000000..45e26bb
--- /dev/null
+++ b/extras/jetson/RESULTS.md
@@ -0,0 +1,3436 @@
+# Evaluation Results
+
+Results of the model in various experiments on different datasets. \
+(Note that batching poses did not work due to insufficient memory)
+
+### Human36m
+
+```json
+{
+ "img_loading": 0.0342574,
+ "avg_time_2d": 0.0191282,
+ "avg_time_3d": 0.000285512,
+ "fps": 51.51
+}
+{
+ "triangulator_calls": 600,
+ "init_time": 1.45132e-05,
+ "undistort_time": 3.91272e-05,
+ "project_time": 4.18648e-08,
+ "match_time": 4.42098e-08,
+ "pairs_time": 3.36173e-05,
+ "pair_scoring_time": 7.06038e-05,
+ "grouping_time": 4.52551e-06,
+ "full_time": 6.50399e-05,
+ "merge_time": 1.1182e-05,
+ "post_time": 1.5184e-05,
+ "convert_time": 4.0527e-07,
+ "total_time": 0.000254829
+}
+{
+ "person_nums": {
+ "total_frames": 600,
+ "total_labels": 600,
+ "total_preds": 600,
+ "considered_empty": 0,
+ "valid_preds": 600,
+ "invalid_preds": 0,
+ "missing": 0,
+ "invalid_fraction": 0.0,
+ "precision": 1.0,
+ "recall": 1.0,
+ "f1": 1.0,
+ "non_empty": 600
+ },
+ "mpjpe": {
+ "count": 600,
+ "mean": 0.061528,
+ "median": 0.053105,
+ "std": 0.028823,
+ "sem": 0.001178,
+ "min": 0.036321,
+ "max": 0.186535,
+ "recall-0.025": 0.0,
+ "recall-0.05": 0.323333,
+ "recall-0.1": 0.933333,
+ "recall-0.15": 0.95,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600,
+ "ap-0.025": 0.0,
+ "ap-0.05": 0.17148,
+ "ap-0.1": 0.885051,
+ "ap-0.15": 0.912095,
+ "ap-0.25": 1.0,
+ "ap-0.5": 1.0
+ },
+ "nose": {
+ "count": 600,
+ "mean": 0.107804,
+ "median": 0.095215,
+ "std": 0.03784,
+ "sem": 0.001546,
+ "min": 0.026628,
+ "max": 0.246024,
+ "recall-0.025": 0.0,
+ "recall-0.05": 0.023333,
+ "recall-0.1": 0.566667,
+ "recall-0.15": 0.871667,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "shoulder_left": {
+ "count": 600,
+ "mean": 0.035809,
+ "median": 0.026225,
+ "std": 0.033892,
+ "sem": 0.001385,
+ "min": 0.001365,
+ "max": 0.170129,
+ "recall-0.025": 0.471667,
+ "recall-0.05": 0.818333,
+ "recall-0.1": 0.946667,
+ "recall-0.15": 0.961667,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "shoulder_right": {
+ "count": 600,
+ "mean": 0.044851,
+ "median": 0.032717,
+ "std": 0.03965,
+ "sem": 0.00162,
+ "min": 0.004574,
+ "max": 0.211014,
+ "recall-0.025": 0.313333,
+ "recall-0.05": 0.776667,
+ "recall-0.1": 0.911667,
+ "recall-0.15": 0.946667,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "elbow_left": {
+ "count": 600,
+ "mean": 0.045214,
+ "median": 0.035623,
+ "std": 0.036095,
+ "sem": 0.001475,
+ "min": 0.00296,
+ "max": 0.192319,
+ "recall-0.025": 0.25,
+ "recall-0.05": 0.776667,
+ "recall-0.1": 0.931667,
+ "recall-0.15": 0.953333,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "elbow_right": {
+ "count": 600,
+ "mean": 0.043301,
+ "median": 0.031516,
+ "std": 0.03664,
+ "sem": 0.001497,
+ "min": 0.004823,
+ "max": 0.282918,
+ "recall-0.025": 0.263333,
+ "recall-0.05": 0.811667,
+ "recall-0.1": 0.925,
+ "recall-0.15": 0.943333,
+ "recall-0.25": 0.998333,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "wrist_left": {
+ "count": 600,
+ "mean": 0.041557,
+ "median": 0.024995,
+ "std": 0.045514,
+ "sem": 0.00186,
+ "min": 0.001332,
+ "max": 0.318702,
+ "recall-0.025": 0.5,
+ "recall-0.05": 0.75,
+ "recall-0.1": 0.893333,
+ "recall-0.15": 0.943333,
+ "recall-0.25": 0.996667,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "wrist_right": {
+ "count": 599,
+ "mean": 0.046718,
+ "median": 0.028549,
+ "std": 0.053068,
+ "sem": 0.00217,
+ "min": 0.002781,
+ "max": 0.461978,
+ "recall-0.025": 0.443333,
+ "recall-0.05": 0.763333,
+ "recall-0.1": 0.883333,
+ "recall-0.15": 0.906667,
+ "recall-0.25": 0.986667,
+ "recall-0.5": 0.998333,
+ "num_labels": 600
+ },
+ "hip_left": {
+ "count": 600,
+ "mean": 0.068465,
+ "median": 0.057404,
+ "std": 0.035629,
+ "sem": 0.001456,
+ "min": 0.024328,
+ "max": 0.217183,
+ "recall-0.025": 0.001667,
+ "recall-0.05": 0.253333,
+ "recall-0.1": 0.886667,
+ "recall-0.15": 0.946667,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "hip_right": {
+ "count": 600,
+ "mean": 0.085129,
+ "median": 0.081728,
+ "std": 0.028927,
+ "sem": 0.001182,
+ "min": 0.016843,
+ "max": 0.209943,
+ "recall-0.025": 0.015,
+ "recall-0.05": 0.063333,
+ "recall-0.1": 0.873333,
+ "recall-0.15": 0.95,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "knee_left": {
+ "count": 600,
+ "mean": 0.058233,
+ "median": 0.043165,
+ "std": 0.060661,
+ "sem": 0.002479,
+ "min": 0.016292,
+ "max": 0.485495,
+ "recall-0.025": 0.081667,
+ "recall-0.05": 0.683333,
+ "recall-0.1": 0.913333,
+ "recall-0.15": 0.921667,
+ "recall-0.25": 0.981667,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "knee_right": {
+ "count": 600,
+ "mean": 0.046531,
+ "median": 0.034435,
+ "std": 0.040745,
+ "sem": 0.001665,
+ "min": 0.010466,
+ "max": 0.306815,
+ "recall-0.025": 0.11,
+ "recall-0.05": 0.823333,
+ "recall-0.1": 0.926667,
+ "recall-0.15": 0.941667,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 600
+ },
+ "ankle_left": {
+ "count": 595,
+ "mean": 0.08901,
+ "median": 0.082242,
+ "std": 0.032861,
+ "sem": 0.001348,
+ "min": 0.046121,
+ "max": 0.451095,
+ "recall-0.025": 0.0,
+ "recall-0.05": 0.003333,
+ "recall-0.1": 0.87,
+ "recall-0.15": 0.938333,
+ "recall-0.25": 0.986667,
+ "recall-0.5": 0.991667,
+ "num_labels": 600
+ },
+ "ankle_right": {
+ "count": 599,
+ "mean": 0.081515,
+ "median": 0.066829,
+ "std": 0.051696,
+ "sem": 0.002114,
+ "min": 0.028852,
+ "max": 0.395517,
+ "recall-0.025": 0.0,
+ "recall-0.05": 0.031667,
+ "recall-0.1": 0.893333,
+ "recall-0.15": 0.915,
+ "recall-0.25": 0.973333,
+ "recall-0.5": 0.998333,
+ "num_labels": 600
+ },
+ "joint_recalls": {
+ "num_labels": 7800,
+ "recall-0.025": 0.18808,
+ "recall-0.05": 0.505,
+ "recall-0.1": 0.87795,
+ "recall-0.15": 0.93333,
+ "recall-0.25": 0.99346,
+ "recall-0.5": 0.99885
+ }
+}
+{
+ "total_parts": 8400,
+ "correct_parts": 8125,
+ "pcp": 0.967262
+}
+```
+
+### Shelf
+
+```json
+{
+ "img_loading": 0.0785831,
+ "avg_time_2d": 0.0404525,
+ "avg_time_3d": 0.00126554,
+ "fps": 23.9704
+}
+{
+ "triangulator_calls": 301,
+ "init_time": 1.91998e-05,
+ "undistort_time": 0.000115129,
+ "project_time": 0.000137981,
+ "match_time": 0.000131471,
+ "pairs_time": 0.000116419,
+ "pair_scoring_time": 0.000273513,
+ "grouping_time": 2.37856e-05,
+ "full_time": 0.000238893,
+ "merge_time": 6.02346e-05,
+ "post_time": 2.70387e-05,
+ "convert_time": 8.76502e-07,
+ "total_time": 0.00114508
+}
+{
+ "person_nums": {
+ "total_frames": 301,
+ "total_labels": 477,
+ "total_preds": 846,
+ "considered_empty": 0,
+ "valid_preds": 477,
+ "invalid_preds": 369,
+ "missing": 0,
+ "invalid_fraction": 0.43617,
+ "precision": 0.56383,
+ "recall": 1.0,
+ "f1": 0.72109,
+ "non_empty": 846
+ },
+ "mpjpe": {
+ "count": 477,
+ "mean": 0.048053,
+ "median": 0.042925,
+ "std": 0.014919,
+ "sem": 0.000684,
+ "min": 0.030316,
+ "max": 0.127538,
+ "recall-0.025": 0.0,
+ "recall-0.05": 0.691824,
+ "recall-0.1": 0.987421,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477,
+ "ap-0.025": 0.0,
+ "ap-0.05": 0.384039,
+ "ap-0.1": 0.73051,
+ "ap-0.15": 0.74458,
+ "ap-0.25": 0.74458,
+ "ap-0.5": 0.74458
+ },
+ "head": {
+ "count": 477,
+ "mean": 0.053989,
+ "median": 0.050508,
+ "std": 0.02435,
+ "sem": 0.001116,
+ "min": 0.005008,
+ "max": 0.184738,
+ "recall-0.025": 0.083857,
+ "recall-0.05": 0.492662,
+ "recall-0.1": 0.9413,
+ "recall-0.15": 0.995807,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "shoulder_left": {
+ "count": 477,
+ "mean": 0.042492,
+ "median": 0.03748,
+ "std": 0.020389,
+ "sem": 0.000935,
+ "min": 0.003386,
+ "max": 0.136857,
+ "recall-0.025": 0.167715,
+ "recall-0.05": 0.721174,
+ "recall-0.1": 0.991614,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "shoulder_right": {
+ "count": 477,
+ "mean": 0.049854,
+ "median": 0.046609,
+ "std": 0.023042,
+ "sem": 0.001056,
+ "min": 0.00538,
+ "max": 0.1479,
+ "recall-0.025": 0.102725,
+ "recall-0.05": 0.54717,
+ "recall-0.1": 0.955975,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "elbow_left": {
+ "count": 477,
+ "mean": 0.040846,
+ "median": 0.032231,
+ "std": 0.02937,
+ "sem": 0.001346,
+ "min": 0.003899,
+ "max": 0.326622,
+ "recall-0.025": 0.29979,
+ "recall-0.05": 0.754717,
+ "recall-0.1": 0.951782,
+ "recall-0.15": 0.997904,
+ "recall-0.25": 0.997904,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "elbow_right": {
+ "count": 477,
+ "mean": 0.05353,
+ "median": 0.045193,
+ "std": 0.0412,
+ "sem": 0.001888,
+ "min": 0.002659,
+ "max": 0.240424,
+ "recall-0.025": 0.266247,
+ "recall-0.05": 0.559748,
+ "recall-0.1": 0.897275,
+ "recall-0.15": 0.953878,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "wrist_left": {
+ "count": 477,
+ "mean": 0.060767,
+ "median": 0.054348,
+ "std": 0.040627,
+ "sem": 0.001862,
+ "min": 0.002997,
+ "max": 0.314436,
+ "recall-0.025": 0.129979,
+ "recall-0.05": 0.398323,
+ "recall-0.1": 0.903564,
+ "recall-0.15": 0.958071,
+ "recall-0.25": 0.987421,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "wrist_right": {
+ "count": 477,
+ "mean": 0.059355,
+ "median": 0.054084,
+ "std": 0.033183,
+ "sem": 0.001521,
+ "min": 0.00779,
+ "max": 0.370076,
+ "recall-0.025": 0.113208,
+ "recall-0.05": 0.427673,
+ "recall-0.1": 0.895178,
+ "recall-0.15": 0.979036,
+ "recall-0.25": 0.997904,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "hip_left": {
+ "count": 477,
+ "mean": 0.04787,
+ "median": 0.042247,
+ "std": 0.026144,
+ "sem": 0.001198,
+ "min": 0.008137,
+ "max": 0.144228,
+ "recall-0.025": 0.184486,
+ "recall-0.05": 0.620545,
+ "recall-0.1": 0.953878,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "hip_right": {
+ "count": 477,
+ "mean": 0.058046,
+ "median": 0.057109,
+ "std": 0.023584,
+ "sem": 0.001081,
+ "min": 0.00411,
+ "max": 0.13267,
+ "recall-0.025": 0.09434,
+ "recall-0.05": 0.400419,
+ "recall-0.1": 0.945493,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "knee_left": {
+ "count": 477,
+ "mean": 0.040469,
+ "median": 0.03773,
+ "std": 0.024313,
+ "sem": 0.001114,
+ "min": 0.004536,
+ "max": 0.192478,
+ "recall-0.025": 0.24109,
+ "recall-0.05": 0.746331,
+ "recall-0.1": 0.974843,
+ "recall-0.15": 0.989518,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "knee_right": {
+ "count": 477,
+ "mean": 0.040311,
+ "median": 0.036374,
+ "std": 0.024063,
+ "sem": 0.001103,
+ "min": 0.005617,
+ "max": 0.185761,
+ "recall-0.025": 0.314465,
+ "recall-0.05": 0.702306,
+ "recall-0.1": 0.976939,
+ "recall-0.15": 0.995807,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "ankle_left": {
+ "count": 477,
+ "mean": 0.036229,
+ "median": 0.02751,
+ "std": 0.03096,
+ "sem": 0.001419,
+ "min": 0.004239,
+ "max": 0.222654,
+ "recall-0.025": 0.42348,
+ "recall-0.05": 0.819706,
+ "recall-0.1": 0.943396,
+ "recall-0.15": 0.983229,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "ankle_right": {
+ "count": 477,
+ "mean": 0.040924,
+ "median": 0.030993,
+ "std": 0.037966,
+ "sem": 0.00174,
+ "min": 0.000912,
+ "max": 0.286386,
+ "recall-0.025": 0.303983,
+ "recall-0.05": 0.811321,
+ "recall-0.1": 0.930818,
+ "recall-0.15": 0.968553,
+ "recall-0.25": 0.995807,
+ "recall-0.5": 1.0,
+ "num_labels": 477
+ },
+ "joint_recalls": {
+ "num_labels": 6201,
+ "recall-0.025": 0.20803,
+ "recall-0.05": 0.61426,
+ "recall-0.1": 0.94243,
+ "recall-0.15": 0.98549,
+ "recall-0.25": 0.99806,
+ "recall-0.5": 1.0
+ }
+}
+{
+ "total_parts": 6678,
+ "correct_parts": 6612,
+ "pcp": 0.990117
+}
+```
+
+### Panoptic
+
+```json
+{
+ "img_loading": 0.0839426,
+ "avg_time_2d": 0.0584538,
+ "avg_time_3d": 0.00197332,
+ "fps": 16.5489
+}
+{
+ "triangulator_calls": 420,
+ "init_time": 2.6119e-05,
+ "undistort_time": 9.24304e-05,
+ "project_time": 6.01094e-08,
+ "match_time": 4.79975e-08,
+ "pairs_time": 0.000163411,
+ "pair_scoring_time": 0.00105603,
+ "grouping_time": 0.000145171,
+ "full_time": 0.000276877,
+ "merge_time": 5.63099e-05,
+ "post_time": 2.89766e-05,
+ "convert_time": 1.36306e-06,
+ "total_time": 0.00184748
+}
+{
+ "person_nums": {
+ "total_frames": 420,
+ "total_labels": 1466,
+ "total_preds": 1603,
+ "considered_empty": 0,
+ "valid_preds": 1462,
+ "invalid_preds": 141,
+ "missing": 4,
+ "invalid_fraction": 0.08796,
+ "precision": 0.91204,
+ "recall": 0.99727,
+ "f1": 0.95275,
+ "non_empty": 1603
+ },
+ "mpjpe": {
+ "count": 1462,
+ "mean": 0.034981,
+ "median": 0.031055,
+ "std": 0.016678,
+ "sem": 0.000436,
+ "min": 0.010964,
+ "max": 0.17508,
+ "recall-0.025": 0.299454,
+ "recall-0.05": 0.841746,
+ "recall-0.1": 0.992497,
+ "recall-0.15": 0.995907,
+ "recall-0.25": 0.997271,
+ "recall-0.5": 0.997271,
+ "num_labels": 1466,
+ "ap-0.025": 0.155164,
+ "ap-0.05": 0.770059,
+ "ap-0.1": 0.976266,
+ "ap-0.15": 0.983127,
+ "ap-0.25": 0.986247,
+ "ap-0.5": 0.986247
+ },
+ "nose": {
+ "count": 1461,
+ "mean": 0.015025,
+ "median": 0.01129,
+ "std": 0.017594,
+ "sem": 0.00046,
+ "min": 0.001853,
+ "max": 0.275169,
+ "recall-0.025": 0.917293,
+ "recall-0.05": 0.969241,
+ "recall-0.1": 0.992481,
+ "recall-0.15": 0.995899,
+ "recall-0.25": 0.996582,
+ "recall-0.5": 0.998633,
+ "num_labels": 1463
+ },
+ "shoulder_left": {
+ "count": 1462,
+ "mean": 0.016623,
+ "median": 0.014519,
+ "std": 0.010639,
+ "sem": 0.000278,
+ "min": 0.001557,
+ "max": 0.100918,
+ "recall-0.025": 0.843111,
+ "recall-0.05": 0.985675,
+ "recall-0.1": 0.996589,
+ "recall-0.15": 0.997271,
+ "recall-0.25": 0.997271,
+ "recall-0.5": 0.997271,
+ "num_labels": 1466
+ },
+ "shoulder_right": {
+ "count": 1461,
+ "mean": 0.01663,
+ "median": 0.014348,
+ "std": 0.011206,
+ "sem": 0.000293,
+ "min": 0.000751,
+ "max": 0.152125,
+ "recall-0.025": 0.840956,
+ "recall-0.05": 0.984983,
+ "recall-0.1": 0.996587,
+ "recall-0.15": 0.996587,
+ "recall-0.25": 0.99727,
+ "recall-0.5": 0.99727,
+ "num_labels": 1465
+ },
+ "elbow_left": {
+ "count": 1461,
+ "mean": 0.023401,
+ "median": 0.016597,
+ "std": 0.022705,
+ "sem": 0.000594,
+ "min": 0.000894,
+ "max": 0.212038,
+ "recall-0.025": 0.725597,
+ "recall-0.05": 0.905119,
+ "recall-0.1": 0.98157,
+ "recall-0.15": 0.993857,
+ "recall-0.25": 0.99727,
+ "recall-0.5": 0.99727,
+ "num_labels": 1465
+ },
+ "elbow_right": {
+ "count": 1461,
+ "mean": 0.020471,
+ "median": 0.015998,
+ "std": 0.015371,
+ "sem": 0.000402,
+ "min": 0.000892,
+ "max": 0.166452,
+ "recall-0.025": 0.784005,
+ "recall-0.05": 0.93985,
+ "recall-0.1": 0.996582,
+ "recall-0.15": 0.997949,
+ "recall-0.25": 0.998633,
+ "recall-0.5": 0.998633,
+ "num_labels": 1463
+ },
+ "wrist_left": {
+ "count": 1432,
+ "mean": 0.036167,
+ "median": 0.016317,
+ "std": 0.058075,
+ "sem": 0.001535,
+ "min": 0.000818,
+ "max": 0.457564,
+ "recall-0.025": 0.68689,
+ "recall-0.05": 0.847978,
+ "recall-0.1": 0.903766,
+ "recall-0.15": 0.953278,
+ "recall-0.25": 0.974198,
+ "recall-0.5": 0.998605,
+ "num_labels": 1434
+ },
+ "wrist_right": {
+ "count": 1455,
+ "mean": 0.02501,
+ "median": 0.016009,
+ "std": 0.030848,
+ "sem": 0.000809,
+ "min": 0.001026,
+ "max": 0.289014,
+ "recall-0.025": 0.705357,
+ "recall-0.05": 0.901099,
+ "recall-0.1": 0.971841,
+ "recall-0.15": 0.986264,
+ "recall-0.25": 0.994505,
+ "recall-0.5": 0.999313,
+ "num_labels": 1456
+ },
+ "hip_left": {
+ "count": 1461,
+ "mean": 0.036319,
+ "median": 0.031691,
+ "std": 0.021971,
+ "sem": 0.000575,
+ "min": 0.000673,
+ "max": 0.223114,
+ "recall-0.025": 0.32628,
+ "recall-0.05": 0.813652,
+ "recall-0.1": 0.9843,
+ "recall-0.15": 0.993174,
+ "recall-0.25": 0.99727,
+ "recall-0.5": 0.99727,
+ "num_labels": 1465
+ },
+ "hip_right": {
+ "count": 1462,
+ "mean": 0.039558,
+ "median": 0.032541,
+ "std": 0.032576,
+ "sem": 0.000852,
+ "min": 0.003091,
+ "max": 0.466214,
+ "recall-0.025": 0.326739,
+ "recall-0.05": 0.79809,
+ "recall-0.1": 0.957708,
+ "recall-0.15": 0.989768,
+ "recall-0.25": 0.994543,
+ "recall-0.5": 0.997271,
+ "num_labels": 1466
+ },
+ "knee_left": {
+ "count": 1461,
+ "mean": 0.041537,
+ "median": 0.034438,
+ "std": 0.039106,
+ "sem": 0.001023,
+ "min": 0.004038,
+ "max": 0.472281,
+ "recall-0.025": 0.27372,
+ "recall-0.05": 0.782935,
+ "recall-0.1": 0.959727,
+ "recall-0.15": 0.982253,
+ "recall-0.25": 0.988396,
+ "recall-0.5": 0.99727,
+ "num_labels": 1465
+ },
+ "knee_right": {
+ "count": 1454,
+ "mean": 0.039732,
+ "median": 0.031766,
+ "std": 0.030497,
+ "sem": 0.0008,
+ "min": 0.002426,
+ "max": 0.369024,
+ "recall-0.025": 0.332419,
+ "recall-0.05": 0.735435,
+ "recall-0.1": 0.962988,
+ "recall-0.15": 0.989034,
+ "recall-0.25": 0.993146,
+ "recall-0.5": 0.996573,
+ "num_labels": 1459
+ },
+ "ankle_left": {
+ "count": 1457,
+ "mean": 0.070074,
+ "median": 0.036118,
+ "std": 0.081809,
+ "sem": 0.002144,
+ "min": 0.003395,
+ "max": 0.448722,
+ "recall-0.025": 0.336295,
+ "recall-0.05": 0.616541,
+ "recall-0.1": 0.789474,
+ "recall-0.15": 0.86056,
+ "recall-0.25": 0.947368,
+ "recall-0.5": 0.995899,
+ "num_labels": 1463
+ },
+ "ankle_right": {
+ "count": 1452,
+ "mean": 0.070754,
+ "median": 0.03316,
+ "std": 0.093813,
+ "sem": 0.002463,
+ "min": 0.001172,
+ "max": 0.470014,
+ "recall-0.025": 0.349315,
+ "recall-0.05": 0.676712,
+ "recall-0.1": 0.806164,
+ "recall-0.15": 0.856849,
+ "recall-0.25": 0.920548,
+ "recall-0.5": 0.994521,
+ "num_labels": 1460
+ },
+ "joint_recalls": {
+ "num_labels": 18990,
+ "recall-0.025": 0.5723,
+ "recall-0.05": 0.8425,
+ "recall-0.1": 0.94581,
+ "recall-0.15": 0.96835,
+ "recall-0.25": 0.98415,
+ "recall-0.5": 0.99716
+ }
+}
+{
+ "total_parts": 20444,
+ "correct_parts": 20126,
+ "pcp": 0.984445
+}
+```
+
+### H3WB
+
+##### default joints
+
+```json
+{
+ "img_loading": 0.0400008,
+ "avg_time_2d": 0.01979,
+ "avg_time_3d": 0.000363116,
+ "fps": 49.6202
+}
+{
+ "triangulator_calls": 200,
+ "init_time": 1.21408e-05,
+ "undistort_time": 7.16068e-05,
+ "project_time": 4.383e-08,
+ "match_time": 4.2875e-08,
+ "pairs_time": 3.16908e-05,
+ "pair_scoring_time": 8.60715e-05,
+ "grouping_time": 4.5394e-06,
+ "full_time": 7.9356e-05,
+ "merge_time": 1.16875e-05,
+ "post_time": 1.73255e-05,
+ "convert_time": 3.4991e-07,
+ "total_time": 0.000315377
+}
+{
+ "person_nums": {
+ "total_frames": 200,
+ "total_labels": 200,
+ "total_preds": 200,
+ "considered_empty": 0,
+ "valid_preds": 200,
+ "invalid_preds": 0,
+ "missing": 0,
+ "invalid_fraction": 0.0,
+ "precision": 1.0,
+ "recall": 1.0,
+ "f1": 1.0,
+ "non_empty": 200
+ },
+ "mpjpe": {
+ "count": 200,
+ "mean": 0.023565,
+ "median": 0.021741,
+ "std": 0.010774,
+ "sem": 0.000764,
+ "min": 0.01127,
+ "max": 0.09407,
+ "recall-0.025": 0.665,
+ "recall-0.05": 0.975,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200,
+ "ap-0.025": 0.574797,
+ "ap-0.05": 0.974203,
+ "ap-0.1": 1.0,
+ "ap-0.15": 1.0,
+ "ap-0.25": 1.0,
+ "ap-0.5": 1.0
+ },
+ "nose": {
+ "count": 200,
+ "mean": 0.040915,
+ "median": 0.030513,
+ "std": 0.036284,
+ "sem": 0.002572,
+ "min": 0.004272,
+ "max": 0.257783,
+ "recall-0.025": 0.41,
+ "recall-0.05": 0.775,
+ "recall-0.1": 0.945,
+ "recall-0.15": 0.98,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "shoulder_left": {
+ "count": 200,
+ "mean": 0.018229,
+ "median": 0.015765,
+ "std": 0.010916,
+ "sem": 0.000774,
+ "min": 0.002415,
+ "max": 0.073392,
+ "recall-0.025": 0.79,
+ "recall-0.05": 0.98,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "shoulder_right": {
+ "count": 200,
+ "mean": 0.022352,
+ "median": 0.019094,
+ "std": 0.012414,
+ "sem": 0.00088,
+ "min": 0.003998,
+ "max": 0.082965,
+ "recall-0.025": 0.645,
+ "recall-0.05": 0.98,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "elbow_left": {
+ "count": 200,
+ "mean": 0.015272,
+ "median": 0.012426,
+ "std": 0.011883,
+ "sem": 0.000842,
+ "min": 0.002273,
+ "max": 0.084105,
+ "recall-0.025": 0.865,
+ "recall-0.05": 0.975,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "elbow_right": {
+ "count": 200,
+ "mean": 0.021467,
+ "median": 0.014707,
+ "std": 0.020482,
+ "sem": 0.001452,
+ "min": 0.000629,
+ "max": 0.11985,
+ "recall-0.025": 0.73,
+ "recall-0.05": 0.915,
+ "recall-0.1": 0.99,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "wrist_left": {
+ "count": 200,
+ "mean": 0.025592,
+ "median": 0.018211,
+ "std": 0.030855,
+ "sem": 0.002187,
+ "min": 0.002157,
+ "max": 0.278822,
+ "recall-0.025": 0.67,
+ "recall-0.05": 0.91,
+ "recall-0.1": 0.98,
+ "recall-0.15": 0.99,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "wrist_right": {
+ "count": 200,
+ "mean": 0.029821,
+ "median": 0.022374,
+ "std": 0.024958,
+ "sem": 0.001769,
+ "min": 0.001235,
+ "max": 0.160383,
+ "recall-0.025": 0.545,
+ "recall-0.05": 0.845,
+ "recall-0.1": 0.98,
+ "recall-0.15": 0.995,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "hip_left": {
+ "count": 200,
+ "mean": 0.031059,
+ "median": 0.028064,
+ "std": 0.015627,
+ "sem": 0.001108,
+ "min": 0.004663,
+ "max": 0.092889,
+ "recall-0.025": 0.415,
+ "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,
+ "num_labels": 200
+ },
+ "hip_right": {
+ "count": 200,
+ "mean": 0.029347,
+ "median": 0.027663,
+ "std": 0.01378,
+ "sem": 0.000977,
+ "min": 0.004865,
+ "max": 0.066256,
+ "recall-0.025": 0.44,
+ "recall-0.05": 0.915,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "knee_left": {
+ "count": 200,
+ "mean": 0.019717,
+ "median": 0.01388,
+ "std": 0.027031,
+ "sem": 0.001916,
+ "min": 0.002293,
+ "max": 0.328836,
+ "recall-0.025": 0.795,
+ "recall-0.05": 0.96,
+ "recall-0.1": 0.99,
+ "recall-0.15": 0.995,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "knee_right": {
+ "count": 200,
+ "mean": 0.018608,
+ "median": 0.013854,
+ "std": 0.031726,
+ "sem": 0.002249,
+ "min": 0.000647,
+ "max": 0.42966,
+ "recall-0.025": 0.84,
+ "recall-0.05": 0.96,
+ "recall-0.1": 0.995,
+ "recall-0.15": 0.995,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "ankle_left": {
+ "count": 200,
+ "mean": 0.015368,
+ "median": 0.010389,
+ "std": 0.026199,
+ "sem": 0.001857,
+ "min": 0.000367,
+ "max": 0.332561,
+ "recall-0.025": 0.91,
+ "recall-0.05": 0.97,
+ "recall-0.1": 0.99,
+ "recall-0.15": 0.995,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "ankle_right": {
+ "count": 199,
+ "mean": 0.01611,
+ "median": 0.010414,
+ "std": 0.027756,
+ "sem": 0.001973,
+ "min": 0.00027,
+ "max": 0.345455,
+ "recall-0.025": 0.875,
+ "recall-0.05": 0.965,
+ "recall-0.1": 0.985,
+ "recall-0.15": 0.99,
+ "recall-0.25": 0.99,
+ "recall-0.5": 0.995,
+ "num_labels": 200
+ },
+ "joint_recalls": {
+ "num_labels": 2600,
+ "recall-0.025": 0.68692,
+ "recall-0.05": 0.92654,
+ "recall-0.1": 0.98885,
+ "recall-0.15": 0.99538,
+ "recall-0.25": 0.99731,
+ "recall-0.5": 0.99962
+ }
+}
+{
+ "total_parts": 2800,
+ "correct_parts": 2794,
+ "pcp": 0.997857
+}
+```
+
+##### whole-body
+
+```json
+{
+ "img_loading": 0.039975,
+ "avg_time_2d": 0.0325234,
+ "avg_time_3d": 0.000829363,
+ "fps": 29.9825
+}
+{
+ "triangulator_calls": 200,
+ "init_time": 1.26408e-05,
+ "undistort_time": 0.000101041,
+ "project_time": 4.24e-08,
+ "match_time": 5.904e-08,
+ "pairs_time": 5.80284e-05,
+ "pair_scoring_time": 0.00010579,
+ "grouping_time": 4.52217e-06,
+ "full_time": 0.000364642,
+ "merge_time": 6.04412e-05,
+ "post_time": 4.96694e-05,
+ "convert_time": 4.16203e-06,
+ "total_time": 0.000761571
+}
+{
+ "person_nums": {
+ "total_frames": 200,
+ "total_labels": 200,
+ "total_preds": 200,
+ "considered_empty": 0,
+ "valid_preds": 200,
+ "invalid_preds": 0,
+ "missing": 0,
+ "invalid_fraction": 0.0,
+ "precision": 1.0,
+ "recall": 1.0,
+ "f1": 1.0,
+ "non_empty": 200
+ },
+ "mpjpe": {
+ "count": 200,
+ "mean": 0.045902,
+ "median": 0.040748,
+ "std": 0.017513,
+ "sem": 0.001241,
+ "min": 0.020422,
+ "max": 0.111699,
+ "recall-0.025": 0.025,
+ "recall-0.05": 0.685,
+ "recall-0.1": 0.99,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200,
+ "ap-0.025": 0.007262,
+ "ap-0.05": 0.609235,
+ "ap-0.1": 0.988543,
+ "ap-0.15": 1.0,
+ "ap-0.25": 1.0,
+ "ap-0.5": 1.0
+ },
+ "nose": {
+ "count": 200,
+ "mean": 0.047513,
+ "median": 0.039308,
+ "std": 0.033242,
+ "sem": 0.002356,
+ "min": 0.004022,
+ "max": 0.168174,
+ "recall-0.025": 0.31,
+ "recall-0.05": 0.64,
+ "recall-0.1": 0.895,
+ "recall-0.15": 0.99,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "eye_left": {
+ "count": 200,
+ "mean": 0.045024,
+ "median": 0.035475,
+ "std": 0.033342,
+ "sem": 0.002364,
+ "min": 0.008404,
+ "max": 0.292547,
+ "recall-0.025": 0.31,
+ "recall-0.05": 0.66,
+ "recall-0.1": 0.94,
+ "recall-0.15": 0.995,
+ "recall-0.25": 0.995,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "eye_right": {
+ "count": 200,
+ "mean": 0.053867,
+ "median": 0.046104,
+ "std": 0.034182,
+ "sem": 0.002423,
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+ "recall-0.05": 0.725,
+ "recall-0.1": 0.86,
+ "recall-0.15": 0.92,
+ "recall-0.25": 0.975,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "hand_finger_pinky_right_2": {
+ "count": 199,
+ "mean": 0.055533,
+ "median": 0.032747,
+ "std": 0.065354,
+ "sem": 0.004644,
+ "min": 0.001233,
+ "max": 0.42205,
+ "recall-0.025": 0.37,
+ "recall-0.05": 0.685,
+ "recall-0.1": 0.84,
+ "recall-0.15": 0.91,
+ "recall-0.25": 0.975,
+ "recall-0.5": 0.995,
+ "num_labels": 200
+ },
+ "hand_finger_pinky_right_3": {
+ "count": 198,
+ "mean": 0.054377,
+ "median": 0.030116,
+ "std": 0.062228,
+ "sem": 0.004434,
+ "min": 0.002997,
+ "max": 0.412459,
+ "recall-0.025": 0.405,
+ "recall-0.05": 0.67,
+ "recall-0.1": 0.85,
+ "recall-0.15": 0.89,
+ "recall-0.25": 0.97,
+ "recall-0.5": 0.99,
+ "num_labels": 200
+ },
+ "hand_finger_pinky_right_4": {
+ "count": 199,
+ "mean": 0.059467,
+ "median": 0.03372,
+ "std": 0.073891,
+ "sem": 0.005251,
+ "min": 0.0028,
+ "max": 0.487009,
+ "recall-0.025": 0.355,
+ "recall-0.05": 0.66,
+ "recall-0.1": 0.85,
+ "recall-0.15": 0.905,
+ "recall-0.25": 0.97,
+ "recall-0.5": 0.995,
+ "num_labels": 200
+ },
+ "hip_middle": {
+ "count": 200,
+ "mean": 0.028829,
+ "median": 0.024565,
+ "std": 0.018505,
+ "sem": 0.001312,
+ "min": 0.003215,
+ "max": 0.173823,
+ "recall-0.025": 0.515,
+ "recall-0.05": 0.915,
+ "recall-0.1": 0.99,
+ "recall-0.15": 0.995,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "shoulder_middle": {
+ "count": 200,
+ "mean": 0.019243,
+ "median": 0.017057,
+ "std": 0.010517,
+ "sem": 0.000745,
+ "min": 0.001245,
+ "max": 0.05575,
+ "recall-0.025": 0.73,
+ "recall-0.05": 0.99,
+ "recall-0.1": 1.0,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "head": {
+ "count": 200,
+ "mean": 0.034492,
+ "median": 0.030036,
+ "std": 0.02127,
+ "sem": 0.001508,
+ "min": 0.006744,
+ "max": 0.139126,
+ "recall-0.025": 0.405,
+ "recall-0.05": 0.805,
+ "recall-0.1": 0.985,
+ "recall-0.15": 1.0,
+ "recall-0.25": 1.0,
+ "recall-0.5": 1.0,
+ "num_labels": 200
+ },
+ "body_errors": {
+ "body": {
+ "count": 5192,
+ "mean": 0.030192,
+ "median": 0.023382,
+ "std": 0.027541,
+ "sem": 0.001954,
+ "min": 0.002921,
+ "max": 0.229461,
+ "num_labels": 5200
+ },
+ "face": {
+ "count": 13597,
+ "mean": 0.048241,
+ "median": 0.040051,
+ "std": 0.032103,
+ "sem": 0.002276,
+ "min": 0.005474,
+ "max": 0.216164,
+ "num_labels": 13600
+ },
+ "hand": {
+ "count": 8383,
+ "mean": 0.049925,
+ "median": 0.027521,
+ "std": 0.063107,
+ "sem": 0.004478,
+ "min": 0.002681,
+ "max": 0.391661,
+ "num_labels": 8400
+ }
+ },
+ "joint_recalls": {
+ "num_labels": 27200,
+ "recall-0.025": 0.40088,
+ "recall-0.05": 0.70585,
+ "recall-0.1": 0.91154,
+ "recall-0.15": 0.96393,
+ "recall-0.25": 0.98949,
+ "recall-0.5": 0.99897
+ }
+}
+{
+ "total_parts": 2800,
+ "correct_parts": 2785,
+ "pcp": 0.994643
+}
+```
diff --git a/extras/jetson/docker-compose.yml b/extras/jetson/docker-compose.yml
new file mode 100644
index 0000000..9409e6e
--- /dev/null
+++ b/extras/jetson/docker-compose.yml
@@ -0,0 +1,38 @@
+version: "2.3"
+# runtime: nvidia needs version 2 else change standard runtime at host pc
+
+services:
+
+ test_node:
+ image: rapidposetriangulation_ros
+ network_mode: "host"
+ ipc: "host"
+ runtime: nvidia
+ privileged: true
+ volumes:
+ - ../../:/RapidPoseTriangulation/
+ - ../../skelda/:/skelda/
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ - /dev/shm:/dev/shm
+ environment:
+ - DISPLAY
+ - QT_X11_NO_MITSHM=1
+ - "PYTHONUNBUFFERED=1"
+ command: /bin/bash -i -c 'sleep infinity'
+
+ estimator:
+ image: rapidposetriangulation_ros
+ network_mode: "host"
+ ipc: "host"
+ runtime: nvidia
+ privileged: true
+ volumes:
+ - ../../:/RapidPoseTriangulation/
+ - ../../skelda/:/skelda/
+ - /tmp/.X11-unix:/tmp/.X11-unix
+ - /dev/shm:/dev/shm
+ environment:
+ - DISPLAY
+ - QT_X11_NO_MITSHM=1
+ - "PYTHONUNBUFFERED=1"
+ command: /bin/bash -i -c 'export ROS_DOMAIN_ID=18 && ros2 run rpt2d_wrapper_cpp rpt2d_wrapper'
diff --git a/extras/jetson/dockerfile b/extras/jetson/dockerfile
new file mode 100644
index 0000000..50cd693
--- /dev/null
+++ b/extras/jetson/dockerfile
@@ -0,0 +1,25 @@
+FROM dustynv/onnxruntime:1.20-r36.4.0
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+RUN apt-get update && apt-get install -y --no-install-recommends feh
+RUN apt-get update && apt-get install -y --no-install-recommends python3-opencv
+RUN apt-get update && apt-get install -y --no-install-recommends libatlas-base-dev
+
+# Show matplotlib images
+RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
+
+# Install swig and later dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends build-essential
+RUN apt-get update && apt-get install -y --no-install-recommends swig
+RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+
+RUN pip3 install --no-cache-dir scipy
+COPY ./skelda/ /skelda/
+RUN pip3 install --no-cache-dir -e /skelda/
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]
diff --git a/extras/jetson/dockerfile_ros b/extras/jetson/dockerfile_ros
new file mode 100644
index 0000000..dd086b8
--- /dev/null
+++ b/extras/jetson/dockerfile_ros
@@ -0,0 +1,60 @@
+FROM rapidposetriangulation
+WORKDIR /
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+# Install ROS2
+# https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
+RUN apt-get update && apt-get install -y --no-install-recommends locales
+RUN locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
+RUN add-apt-repository universe
+RUN apt-get update && apt-get install -y --no-install-recommends curl
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+RUN apt-get update && apt-get install -y --no-install-recommends ros-humble-ros-base python3-argcomplete
+RUN apt-get update && apt-get install -y --no-install-recommends ros-dev-tools
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# Create ROS2 workspace for basic packages
+RUN mkdir -p /project/base/src/
+RUN cd /project/base/; colcon build
+RUN echo "source /project/base/install/setup.bash" >> ~/.bashrc
+
+# Fix ros package building error
+RUN pip3 install --no-cache-dir "setuptools<=58.2.0"
+
+# Install opencv and cv_bridge
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libboost-python-dev
+RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+RUN cd /project/base/src/; git clone --branch humble --depth=1 https://github.com/ros-perception/vision_opencv.git
+RUN /bin/bash -i -c 'cd /project/base/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Create ROS2 workspace for project packages
+RUN mkdir -p /project/dev_ws/src/
+RUN cd /project/dev_ws/; colcon build
+RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
+
+# Copy modules
+COPY ./extras/include/ /RapidPoseTriangulation/extras/include/
+COPY ./scripts/ /RapidPoseTriangulation/scripts/
+COPY ./extras/ros/rpt2d_wrapper_cpp /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/
+
+# Link and build as ros package
+RUN ln -s /RapidPoseTriangulation/extras/ros/rpt2d_wrapper_cpp/ /project/dev_ws/src/rpt2d_wrapper_cpp
+RUN /bin/bash -i -c 'cd /project/dev_ws/; colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Update ros packages -> autocompletion and check
+RUN /bin/bash -i -c 'ros2 pkg list'
+
+# Clear cache to save space, only has an effect if image is squashed
+RUN apt-get autoremove -y \
+ && apt-get clean \
+ && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]
diff --git a/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt b/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
index 20514a8..7e89536 100644
--- a/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
+++ b/extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt
@@ -24,10 +24,14 @@ find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)
### 3) ONNX Runtime
+# for desktop
include_directories(/onnxruntime/include/
/onnxruntime/include/onnxruntime/core/session/
/onnxruntime/include/onnxruntime/core/providers/tensorrt/)
link_directories(/onnxruntime/build/Linux/Release/)
+# for jetson
+include_directories(/usr/local/include/onnxruntime/)
+link_directories(/usr/local/lib/)
add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
ament_target_dependencies(rpt2d_wrapper rclcpp std_msgs sensor_msgs cv_bridge)
diff --git a/run_container.sh b/run_container.sh
index 348883b..15f2fb9 100755
--- a/run_container.sh
+++ b/run_container.sh
@@ -2,7 +2,7 @@
xhost +
docker run --privileged --rm --network host -it \
- --gpus all --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
+ --runtime nvidia --shm-size=16g --ulimit memlock=-1 --ulimit stack=67108864 \
--volume "$(pwd)"/:/RapidPoseTriangulation/ \
--volume "$(pwd)"/../datasets/:/datasets/ \
--volume "$(pwd)"/skelda/:/skelda/ \