From 4bf821104252e28840d7b81cd393141d30d49e54 Mon Sep 17 00:00:00 2001
From: isse <isse@isse-agx01.localdomain>
Date: Mon, 25 Nov 2024 17:51:20 +0100
Subject: [PATCH 01/12] First steps.

---
 ros/README-Jetson-Setup.md | 42 ++++++++++++++++++++++++++++++++++
 ros/dockerfile_jetson      | 47 ++++++++++++++++++++++++++++++++++++++
 run_container.sh           |  2 +-
 3 files changed, 90 insertions(+), 1 deletion(-)
 create mode 100644 ros/README-Jetson-Setup.md
 create mode 100644 ros/dockerfile_jetson

diff --git a/ros/README-Jetson-Setup.md b/ros/README-Jetson-Setup.md
new file mode 100644
index 0000000..c06f9bf
--- /dev/null
+++ b/ros/README-Jetson-Setup.md
@@ -0,0 +1,42 @@
+# ROS
+
+<br>
+
+## Build
+
+- Install system: \
+  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install _docker_: \
+  (https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script)
+
+- Install _nvidia-container-toolkit_: \
+  (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+- Enable GPU-access for docker building:
+
+  Run `sudo nano /etc/docker/daemon.json` and add:
+
+  ```json
+  {
+    "runtimes": {
+      "nvidia": {
+        "path": "nvidia-container-runtime",
+        "runtimeArgs": []
+      }
+    },
+    "default-runtime": "nvidia"
+  }
+  ```
+
+  Restart docker: `sudo systemctl restart docker`
+
+- Install _vs-code_: \
+  (https://code.visualstudio.com/docs/setup/linux)
+
+
+- Test docker is working: \
+  ```bash
+  sudo docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:35.4.1
+  sudo docker run --runtime nvidia -it --rm --network=host nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+  ```
diff --git a/ros/dockerfile_jetson b/ros/dockerfile_jetson
new file mode 100644
index 0000000..e3a8ef5
--- /dev/null
+++ b/ros/dockerfile_jetson
@@ -0,0 +1,47 @@
+FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+
+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 pip uninstall -y opencv-python && pip install --no-cache "opencv-python<4.3"
+
+# Show matplotlib images
+RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
+
+# Update pip to allow installation of skelda in editable mode
+RUN pip3 install --upgrade --no-cache-dir pip
+
+# Install MMPose
+# ENV FORCE_CUDA="1"
+# ENV MMCV_WITH_OPS=1
+RUN pip3 install --upgrade --no-cache-dir openmim
+RUN mim install mmengine
+RUN mim install "mmcv>=2,<2.2.0"
+RUN mim install "mmdet>=3"
+RUN mim install "mmpose>=1.1.0"
+# Fix an error when importing mmpose
+RUN pip3 install --upgrade --no-cache-dir numpy scipy
+RUN git clone --depth=1 --branch=main https://github.com/open-mmlab/mmpose.git
+
+# Download pretrained model
+COPY scripts/utils_2d_pose.py /
+RUN python3 -c "from utils_2d_pose import load_model; load_model();"
+RUN python3 -c "from utils_2d_pose import load_wb_model; load_wb_model();"
+
+# Fix an undefined symbol error with ompi
+RUN echo "ldconfig" >> ~/.bashrc
+
+# 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
+
+COPY ./skelda/ /skelda/
+RUN pip3 install --no-cache-dir -e /skelda/
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]
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/ \

From 2e3fa26feffa094444cf48f30aa8d9c95bf153de Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Wed, 27 Nov 2024 10:23:40 +0100
Subject: [PATCH 02/12] Fixing installation.

---
 ros/README-Jetson-Setup.md     | 42 -----------------
 ros/README-JetsonOrin-Setup.md | 84 ++++++++++++++++++++++++++++++++++
 ros/dockerfile_jetson          | 17 ++-----
 3 files changed, 89 insertions(+), 54 deletions(-)
 delete mode 100644 ros/README-Jetson-Setup.md
 create mode 100644 ros/README-JetsonOrin-Setup.md

diff --git a/ros/README-Jetson-Setup.md b/ros/README-Jetson-Setup.md
deleted file mode 100644
index c06f9bf..0000000
--- a/ros/README-Jetson-Setup.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# ROS
-
-<br>
-
-## Build
-
-- Install system: \
-  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
-
-- Install _docker_: \
-  (https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script)
-
-- Install _nvidia-container-toolkit_: \
-  (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
-
-- Enable GPU-access for docker building:
-
-  Run `sudo nano /etc/docker/daemon.json` and add:
-
-  ```json
-  {
-    "runtimes": {
-      "nvidia": {
-        "path": "nvidia-container-runtime",
-        "runtimeArgs": []
-      }
-    },
-    "default-runtime": "nvidia"
-  }
-  ```
-
-  Restart docker: `sudo systemctl restart docker`
-
-- Install _vs-code_: \
-  (https://code.visualstudio.com/docs/setup/linux)
-
-
-- Test docker is working: \
-  ```bash
-  sudo docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:35.4.1
-  sudo docker run --runtime nvidia -it --rm --network=host nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
-  ```
diff --git a/ros/README-JetsonOrin-Setup.md b/ros/README-JetsonOrin-Setup.md
new file mode 100644
index 0000000..e12a622
--- /dev/null
+++ b/ros/README-JetsonOrin-Setup.md
@@ -0,0 +1,84 @@
+# Setup with Nvidia-Jetson-Orin
+
+Initial setup and installation of _RapidPoseTriangulation_ on a _Nvidia Jetson_ device. \
+Tested with a _Jetson AGX Orin Developer Kit_ module.
+
+<br>
+
+## Base installation
+
+- Install newest software image: \
+  (https://developer.nvidia.com/sdk-manager)
+
+- Initialize system: \
+  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install basic tools:
+  ```bash
+  sudo apt install -y curl nano wget git
+  sudo apt install -y terminator
+  ```
+
+- Enable _docker_ without _sudo_: \
+  (https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
+
+- Enable GPU-access for docker building:
+
+  Run `sudo nano /etc/docker/daemon.json` and add:
+
+  ```json
+  {
+    "runtimes": {
+      "nvidia": {
+        "args": [],
+        "path": "nvidia-container-runtime"
+      }
+    },
+    "default-runtime": "nvidia"
+  }
+  ```
+
+  Restart docker: `sudo systemctl restart docker`
+
+- Install _vs-code_: \
+  (https://code.visualstudio.com/docs/setup/linux)
+
+
+- Test docker is working:
+
+  ```bash
+  docker run -it --rm --runtime=nvidia --network=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:r36.2.0
+  docker run -it --rm --runtime=nvidia --network=host nvcr.io/nvidia/l4t-ml:r36.2.0-py3
+
+
+  docker run -it --rm --runtime=nvidia --network=host dustynv/l4t-pytorch:r36.4.0
+  ```
+
+- Check _cuda_ access in container:
+
+  ```bash
+  python3 -c 'import torch; print(torch.cuda.is_available());'
+  ```
+
+
+<br>
+
+## RPT installation
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f ros/dockerfile_jetson -t rapidposetriangulation .
+  ./run_container.sh
+  ```
+
+- Build _rpt_ package inside container:
+
+  ```bash
+  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py
+  ```
+
+- Test with samples:
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_triangulate.py
+  ```
diff --git a/ros/dockerfile_jetson b/ros/dockerfile_jetson
index e3a8ef5..a2b6c15 100644
--- a/ros/dockerfile_jetson
+++ b/ros/dockerfile_jetson
@@ -1,4 +1,4 @@
-FROM nvcr.io/nvidia/l4t-pytorch:r35.1.0-pth1.11-py3
+FROM dustynv/l4t-pytorch:r36.4.0
 
 ARG DEBIAN_FRONTEND=noninteractive
 ENV LANG=C.UTF-8
@@ -7,24 +7,20 @@ 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 pip uninstall -y opencv-python && pip install --no-cache "opencv-python<4.3"
 
 # Show matplotlib images
 RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
 
-# Update pip to allow installation of skelda in editable mode
-RUN pip3 install --upgrade --no-cache-dir pip
-
 # Install MMPose
-# ENV FORCE_CUDA="1"
-# ENV MMCV_WITH_OPS=1
+ENV FORCE_CUDA="1"
+ENV MMCV_WITH_OPS=1
 RUN pip3 install --upgrade --no-cache-dir openmim
 RUN mim install mmengine
 RUN mim install "mmcv>=2,<2.2.0"
 RUN mim install "mmdet>=3"
 RUN mim install "mmpose>=1.1.0"
 # Fix an error when importing mmpose
-RUN pip3 install --upgrade --no-cache-dir numpy scipy
+RUN pip3 install --upgrade --no-cache-dir "numpy<2" scipy
 RUN git clone --depth=1 --branch=main https://github.com/open-mmlab/mmpose.git
 
 # Download pretrained model
@@ -32,13 +28,10 @@ COPY scripts/utils_2d_pose.py /
 RUN python3 -c "from utils_2d_pose import load_model; load_model();"
 RUN python3 -c "from utils_2d_pose import load_wb_model; load_wb_model();"
 
-# Fix an undefined symbol error with ompi
-RUN echo "ldconfig" >> ~/.bashrc
-
 # 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 apt-get update && apt-get install -y --no-install-recommends libopencv-dev
 
 COPY ./skelda/ /skelda/
 RUN pip3 install --no-cache-dir -e /skelda/

From 6e1ed43ff1bb11c6b075142935e735f2348862b0 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Wed, 27 Nov 2024 10:24:41 +0100
Subject: [PATCH 03/12] Updated makefile.

---
 swig/Makefile | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/swig/Makefile b/swig/Makefile
index cea52c3..d4061b0 100644
--- a/swig/Makefile
+++ b/swig/Makefile
@@ -2,12 +2,13 @@
 FLAGS = -fPIC -O3 -march=native -Wall -Werror -flto -fopenmp -fopenmp-simd
 
 # The Python interface through SWIG
-PYTHONI = -I/usr/include/python3.8/
+PYTHON_VERSION = $(shell python3 -c 'import sys; print(f"{sys.version_info.major}.{sys.version_info.minor}");')
+PYTHONI = -I/usr/include/python$(PYTHON_VERSION)/
 PYTHONL = -Xlinker -export-dynamic
 
 # Default super-target
 all:
-	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -I/usr/include/opencv4 -c *.cpp ; cd ../swig/
+	cd ../rpt/ && g++ $(FLAGS) -std=c++2a -isystem /usr/include/opencv4/ -c *.cpp ; cd ../swig/
 	swig -c++ -python -keyword -o rpt_wrap.cxx rpt.i
 	g++ $(FLAGS) $(PYTHONI) -c rpt_wrap.cxx -o rpt_wrap.o
 	g++ $(FLAGS) $(PYTHONL) -shared ../rpt/*.o rpt_wrap.o -lopencv_core -lopencv_imgproc -lopencv_calib3d -o _rpt.so

From 8a12e8bdfd91db13b3523397e69b2dcca2185723 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Thu, 5 Dec 2024 10:41:59 +0100
Subject: [PATCH 04/12] Small readme updates.

---
 ros/README-JetsonOrin-Setup.md | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/ros/README-JetsonOrin-Setup.md b/ros/README-JetsonOrin-Setup.md
index e12a622..8261769 100644
--- a/ros/README-JetsonOrin-Setup.md
+++ b/ros/README-JetsonOrin-Setup.md
@@ -19,6 +19,12 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   sudo apt install -y terminator
   ```
 
+- 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)
 
@@ -43,14 +49,11 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Install _vs-code_: \
   (https://code.visualstudio.com/docs/setup/linux)
 
-
 - 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 nvcr.io/nvidia/l4t-ml:r36.2.0-py3
-
-
   docker run -it --rm --runtime=nvidia --network=host dustynv/l4t-pytorch:r36.4.0
   ```
 
@@ -60,7 +63,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   python3 -c 'import torch; print(torch.cuda.is_available());'
   ```
 
-
 <br>
 
 ## RPT installation
@@ -75,7 +77,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Build _rpt_ package inside container:
 
   ```bash
-  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py
+  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
   ```
 
 - Test with samples:

From 39bb132a98f8ad201fb237dec516279b454ce34a Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Thu, 5 Dec 2024 10:48:31 +0100
Subject: [PATCH 05/12] Moved some files.

---
 ros/README-JetsonOrin-Setup.md => extras/jetson/README.md | 2 +-
 ros/dockerfile_jetson => extras/jetson/dockerfile         | 0
 2 files changed, 1 insertion(+), 1 deletion(-)
 rename ros/README-JetsonOrin-Setup.md => extras/jetson/README.md (95%)
 rename ros/dockerfile_jetson => extras/jetson/dockerfile (100%)

diff --git a/ros/README-JetsonOrin-Setup.md b/extras/jetson/README.md
similarity index 95%
rename from ros/README-JetsonOrin-Setup.md
rename to extras/jetson/README.md
index 8261769..655bd5c 100644
--- a/ros/README-JetsonOrin-Setup.md
+++ b/extras/jetson/README.md
@@ -70,7 +70,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 - Build docker container:
 
   ```bash
-  docker build --progress=plain -f ros/dockerfile_jetson -t rapidposetriangulation .
+  docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
   ./run_container.sh
   ```
 
diff --git a/ros/dockerfile_jetson b/extras/jetson/dockerfile
similarity index 100%
rename from ros/dockerfile_jetson
rename to extras/jetson/dockerfile

From 0f55599da232233d15eb8b517217e61732e8ea3a Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Fri, 6 Dec 2024 16:51:49 +0100
Subject: [PATCH 06/12] Switched to onnx backend.

---
 extras/jetson/README.md  |   2 +-
 extras/jetson/RESULTS.md | 273 +++++++++++++++++++++++++++++++++++++++
 extras/jetson/dockerfile |  21 +--
 3 files changed, 277 insertions(+), 19 deletions(-)
 create mode 100644 extras/jetson/RESULTS.md

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 655bd5c..6af51f8 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -54,7 +54,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```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/l4t-pytorch:r36.4.0
+  docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
   ```
 
 - Check _cuda_ access in container:
diff --git a/extras/jetson/RESULTS.md b/extras/jetson/RESULTS.md
new file mode 100644
index 0000000..6fc5c2d
--- /dev/null
+++ b/extras/jetson/RESULTS.md
@@ -0,0 +1,273 @@
+# Evaluation Results
+
+Results of the model in various experiments on different datasets.
+
+### Human36m
+
+```json
+{
+  "avg_time_2d": 0.08326671446784067,
+  "avg_time_3d": 0.002362334122092037,
+  "avg_fps": 11.678279934988891
+}
+{
+  "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": 0.067047,
+    "median": 0.059492,
+    "std": 0.027809,
+    "sem": 0.001136,
+    "min": 0.043579,
+    "max": 0.192515,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.051667,
+    "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": 0.0071,
+    "ap-0.1": 0.893961,
+    "ap-0.15": 0.916148,
+    "ap-0.25": 1.0,
+    "ap-0.5": 1.0
+  },
+  "nose": {
+    "count": 600,
+    "mean": 0.114127,
+    "median": 0.096429,
+    "std": 0.04375,
+    "sem": 0.001788,
+    "min": 0.022879,
+    "max": 0.278748,
+    "recall-0.025": 0.001667,
+    "recall-0.05": 0.011667,
+    "recall-0.1": 0.535,
+    "recall-0.15": 0.818333,
+    "recall-0.25": 0.988333,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "shoulder_left": {
+    "count": 600,
+    "mean": 0.03394,
+    "median": 0.025359,
+    "std": 0.032048,
+    "sem": 0.001309,
+    "min": 0.002731,
+    "max": 0.180682,
+    "recall-0.025": 0.485,
+    "recall-0.05": 0.865,
+    "recall-0.1": 0.943333,
+    "recall-0.15": 0.965,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "shoulder_right": {
+    "count": 600,
+    "mean": 0.047462,
+    "median": 0.034253,
+    "std": 0.040799,
+    "sem": 0.001667,
+    "min": 0.005133,
+    "max": 0.252418,
+    "recall-0.025": 0.238333,
+    "recall-0.05": 0.76,
+    "recall-0.1": 0.915,
+    "recall-0.15": 0.945,
+    "recall-0.25": 0.998333,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "elbow_left": {
+    "count": 600,
+    "mean": 0.043416,
+    "median": 0.035385,
+    "std": 0.034844,
+    "sem": 0.001424,
+    "min": 0.002309,
+    "max": 0.195554,
+    "recall-0.025": 0.258333,
+    "recall-0.05": 0.803333,
+    "recall-0.1": 0.938333,
+    "recall-0.15": 0.956667,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "elbow_right": {
+    "count": 600,
+    "mean": 0.043215,
+    "median": 0.033002,
+    "std": 0.033552,
+    "sem": 0.001371,
+    "min": 0.005329,
+    "max": 0.197639,
+    "recall-0.025": 0.238333,
+    "recall-0.05": 0.788333,
+    "recall-0.1": 0.936667,
+    "recall-0.15": 0.951667,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "wrist_left": {
+    "count": 600,
+    "mean": 0.04324,
+    "median": 0.024703,
+    "std": 0.045393,
+    "sem": 0.001855,
+    "min": 0.001606,
+    "max": 0.247877,
+    "recall-0.025": 0.508333,
+    "recall-0.05": 0.733333,
+    "recall-0.1": 0.885,
+    "recall-0.15": 0.935,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "wrist_right": {
+    "count": 600,
+    "mean": 0.047057,
+    "median": 0.027193,
+    "std": 0.0531,
+    "sem": 0.00217,
+    "min": 0.002414,
+    "max": 0.477327,
+    "recall-0.025": 0.441667,
+    "recall-0.05": 0.75,
+    "recall-0.1": 0.875,
+    "recall-0.15": 0.906667,
+    "recall-0.25": 0.993333,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "hip_left": {
+    "count": 600,
+    "mean": 0.090492,
+    "median": 0.085867,
+    "std": 0.033007,
+    "sem": 0.001349,
+    "min": 0.009756,
+    "max": 0.236952,
+    "recall-0.025": 0.008333,
+    "recall-0.05": 0.03,
+    "recall-0.1": 0.813333,
+    "recall-0.15": 0.95,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "hip_right": {
+    "count": 600,
+    "mean": 0.113777,
+    "median": 0.112926,
+    "std": 0.026939,
+    "sem": 0.001101,
+    "min": 0.035267,
+    "max": 0.233528,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.01,
+    "recall-0.1": 0.226667,
+    "recall-0.15": 0.945,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "knee_left": {
+    "count": 600,
+    "mean": 0.061948,
+    "median": 0.045988,
+    "std": 0.058304,
+    "sem": 0.002382,
+    "min": 0.01465,
+    "max": 0.398223,
+    "recall-0.025": 0.036667,
+    "recall-0.05": 0.581667,
+    "recall-0.1": 0.9,
+    "recall-0.15": 0.925,
+    "recall-0.25": 0.981667,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "knee_right": {
+    "count": 600,
+    "mean": 0.052399,
+    "median": 0.043783,
+    "std": 0.037008,
+    "sem": 0.001512,
+    "min": 0.014119,
+    "max": 0.23986,
+    "recall-0.025": 0.04,
+    "recall-0.05": 0.725,
+    "recall-0.1": 0.936667,
+    "recall-0.15": 0.94,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 600
+  },
+  "ankle_left": {
+    "count": 598,
+    "mean": 0.096902,
+    "median": 0.084781,
+    "std": 0.05173,
+    "sem": 0.002117,
+    "min": 0.044418,
+    "max": 0.499384,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.003333,
+    "recall-0.1": 0.84,
+    "recall-0.15": 0.94,
+    "recall-0.25": 0.98,
+    "recall-0.5": 0.996667,
+    "num_labels": 600
+  },
+  "ankle_right": {
+    "count": 598,
+    "mean": 0.080563,
+    "median": 0.06808,
+    "std": 0.043343,
+    "sem": 0.001774,
+    "min": 0.031041,
+    "max": 0.379768,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.023333,
+    "recall-0.1": 0.893333,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.983333,
+    "recall-0.5": 0.996667,
+    "num_labels": 600
+  },
+  "joint_recalls": {
+    "num_labels": 7800,
+    "recall-0.025": 0.17295,
+    "recall-0.05": 0.46744,
+    "recall-0.1": 0.81782,
+    "recall-0.15": 0.93013,
+    "recall-0.25": 0.99372,
+    "recall-0.5": 0.99949
+  }
+}
+{
+  "total_parts": 8400,
+  "correct_parts": 8095,
+  "pcp": 0.96369
+}
+```
diff --git a/extras/jetson/dockerfile b/extras/jetson/dockerfile
index a2b6c15..50cd693 100644
--- a/extras/jetson/dockerfile
+++ b/extras/jetson/dockerfile
@@ -1,4 +1,4 @@
-FROM dustynv/l4t-pytorch:r36.4.0
+FROM dustynv/onnxruntime:1.20-r36.4.0
 
 ARG DEBIAN_FRONTEND=noninteractive
 ENV LANG=C.UTF-8
@@ -7,32 +7,17 @@ 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 MMPose
-ENV FORCE_CUDA="1"
-ENV MMCV_WITH_OPS=1
-RUN pip3 install --upgrade --no-cache-dir openmim
-RUN mim install mmengine
-RUN mim install "mmcv>=2,<2.2.0"
-RUN mim install "mmdet>=3"
-RUN mim install "mmpose>=1.1.0"
-# Fix an error when importing mmpose
-RUN pip3 install --upgrade --no-cache-dir "numpy<2" scipy
-RUN git clone --depth=1 --branch=main https://github.com/open-mmlab/mmpose.git
-
-# Download pretrained model
-COPY scripts/utils_2d_pose.py /
-RUN python3 -c "from utils_2d_pose import load_model; load_model();"
-RUN python3 -c "from utils_2d_pose import load_wb_model; load_wb_model();"
-
 # 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/
 

From f31d6464d77b8330d037ed7365afe6129ad580f7 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Thu, 19 Dec 2024 14:56:18 +0100
Subject: [PATCH 07/12] Update readme.

---
 extras/jetson/README.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 6af51f8..0fd6781 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -14,6 +14,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
 
 - Install basic tools:
+
   ```bash
   sudo apt install -y curl nano wget git
   sudo apt install -y terminator
@@ -63,6 +64,13 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   python3 -c 'import torch; print(torch.cuda.is_available());'
   ```
 
+- Enable maximum performance mode:
+
+  ```bash
+  sudo nvpmodel -m 0
+  sudo jetson_clocks
+  ```
+
 <br>
 
 ## RPT installation
@@ -81,6 +89,7 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```
 
 - Test with samples:
+
   ```bash
   python3 /RapidPoseTriangulation/scripts/test_triangulate.py
   ```

From c5c9266264da3098cb57a97ff80fad66aab362de Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Thu, 19 Dec 2024 15:55:14 +0100
Subject: [PATCH 08/12] Added jetson results.

---
 extras/jetson/RESULTS.md | 3125 ++++++++++++++++++++++++++++++++++++--
 1 file changed, 2971 insertions(+), 154 deletions(-)

diff --git a/extras/jetson/RESULTS.md b/extras/jetson/RESULTS.md
index 6fc5c2d..3bc7210 100644
--- a/extras/jetson/RESULTS.md
+++ b/extras/jetson/RESULTS.md
@@ -1,14 +1,16 @@
 # Evaluation Results
 
-Results of the model in various experiments on different datasets.
+Results of the model in various experiments on different datasets. \
+(Note that batching poses did not work due to insufficient memory)
 
 ### Human36m
 
 ```json
 {
-  "avg_time_2d": 0.08326671446784067,
-  "avg_time_3d": 0.002362334122092037,
-  "avg_fps": 11.678279934988891
+  "img_loading": 0.019871617979922537,
+  "avg_time_2d": 0.024201560020446777,
+  "avg_time_3d": 0.0006943431951231876,
+  "avg_fps": 40.16725126785508
 }
 {
   "person_nums": {
@@ -27,149 +29,149 @@ Results of the model in various experiments on different datasets.
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.067047,
-    "median": 0.059492,
-    "std": 0.027809,
-    "sem": 0.001136,
-    "min": 0.043579,
-    "max": 0.192515,
+    "mean": 0.066544,
+    "median": 0.058633,
+    "std": 0.027907,
+    "sem": 0.00114,
+    "min": 0.044045,
+    "max": 0.190448,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.051667,
+    "recall-0.05": 0.055,
     "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": 0.0071,
-    "ap-0.1": 0.893961,
-    "ap-0.15": 0.916148,
+    "ap-0.05": 0.006816,
+    "ap-0.1": 0.892957,
+    "ap-0.15": 0.915918,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
   "nose": {
     "count": 600,
-    "mean": 0.114127,
-    "median": 0.096429,
-    "std": 0.04375,
-    "sem": 0.001788,
-    "min": 0.022879,
-    "max": 0.278748,
-    "recall-0.025": 0.001667,
-    "recall-0.05": 0.011667,
-    "recall-0.1": 0.535,
-    "recall-0.15": 0.818333,
+    "mean": 0.113926,
+    "median": 0.096371,
+    "std": 0.04379,
+    "sem": 0.001789,
+    "min": 0.026343,
+    "max": 0.29862,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.015,
+    "recall-0.1": 0.531667,
+    "recall-0.15": 0.813333,
     "recall-0.25": 0.988333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_left": {
     "count": 600,
-    "mean": 0.03394,
-    "median": 0.025359,
-    "std": 0.032048,
-    "sem": 0.001309,
-    "min": 0.002731,
-    "max": 0.180682,
-    "recall-0.025": 0.485,
-    "recall-0.05": 0.865,
-    "recall-0.1": 0.943333,
-    "recall-0.15": 0.965,
+    "mean": 0.033951,
+    "median": 0.025071,
+    "std": 0.032164,
+    "sem": 0.001314,
+    "min": 0.002309,
+    "max": 0.181442,
+    "recall-0.025": 0.495,
+    "recall-0.05": 0.861667,
+    "recall-0.1": 0.941667,
+    "recall-0.15": 0.968333,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_right": {
     "count": 600,
-    "mean": 0.047462,
-    "median": 0.034253,
-    "std": 0.040799,
-    "sem": 0.001667,
-    "min": 0.005133,
-    "max": 0.252418,
-    "recall-0.025": 0.238333,
-    "recall-0.05": 0.76,
-    "recall-0.1": 0.915,
-    "recall-0.15": 0.945,
-    "recall-0.25": 0.998333,
+    "mean": 0.047367,
+    "median": 0.034223,
+    "std": 0.041566,
+    "sem": 0.001698,
+    "min": 0.004691,
+    "max": 0.260949,
+    "recall-0.025": 0.221667,
+    "recall-0.05": 0.761667,
+    "recall-0.1": 0.918333,
+    "recall-0.15": 0.94,
+    "recall-0.25": 0.996667,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_left": {
     "count": 600,
-    "mean": 0.043416,
-    "median": 0.035385,
-    "std": 0.034844,
-    "sem": 0.001424,
-    "min": 0.002309,
-    "max": 0.195554,
-    "recall-0.025": 0.258333,
-    "recall-0.05": 0.803333,
-    "recall-0.1": 0.938333,
-    "recall-0.15": 0.956667,
+    "mean": 0.042654,
+    "median": 0.034221,
+    "std": 0.034687,
+    "sem": 0.001417,
+    "min": 0.003159,
+    "max": 0.200759,
+    "recall-0.025": 0.263333,
+    "recall-0.05": 0.818333,
+    "recall-0.1": 0.943333,
+    "recall-0.15": 0.96,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_right": {
     "count": 600,
-    "mean": 0.043215,
-    "median": 0.033002,
-    "std": 0.033552,
-    "sem": 0.001371,
-    "min": 0.005329,
-    "max": 0.197639,
-    "recall-0.025": 0.238333,
-    "recall-0.05": 0.788333,
-    "recall-0.1": 0.936667,
-    "recall-0.15": 0.951667,
+    "mean": 0.043257,
+    "median": 0.032602,
+    "std": 0.034101,
+    "sem": 0.001393,
+    "min": 0.006362,
+    "max": 0.204302,
+    "recall-0.025": 0.236667,
+    "recall-0.05": 0.795,
+    "recall-0.1": 0.935,
+    "recall-0.15": 0.946667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_left": {
     "count": 600,
-    "mean": 0.04324,
-    "median": 0.024703,
-    "std": 0.045393,
-    "sem": 0.001855,
-    "min": 0.001606,
-    "max": 0.247877,
-    "recall-0.025": 0.508333,
-    "recall-0.05": 0.733333,
-    "recall-0.1": 0.885,
-    "recall-0.15": 0.935,
-    "recall-0.25": 1.0,
+    "mean": 0.04175,
+    "median": 0.024365,
+    "std": 0.045669,
+    "sem": 0.001866,
+    "min": 0.002452,
+    "max": 0.307723,
+    "recall-0.025": 0.513333,
+    "recall-0.05": 0.765,
+    "recall-0.1": 0.89,
+    "recall-0.15": 0.933333,
+    "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_right": {
-    "count": 600,
-    "mean": 0.047057,
-    "median": 0.027193,
-    "std": 0.0531,
-    "sem": 0.00217,
-    "min": 0.002414,
-    "max": 0.477327,
-    "recall-0.025": 0.441667,
-    "recall-0.05": 0.75,
-    "recall-0.1": 0.875,
-    "recall-0.15": 0.906667,
+    "count": 599,
+    "mean": 0.046283,
+    "median": 0.026429,
+    "std": 0.055176,
+    "sem": 0.002256,
+    "min": 0.002881,
+    "max": 0.43245,
+    "recall-0.025": 0.463333,
+    "recall-0.05": 0.763333,
+    "recall-0.1": 0.883333,
+    "recall-0.15": 0.908333,
     "recall-0.25": 0.993333,
-    "recall-0.5": 1.0,
+    "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "hip_left": {
     "count": 600,
-    "mean": 0.090492,
-    "median": 0.085867,
-    "std": 0.033007,
-    "sem": 0.001349,
-    "min": 0.009756,
-    "max": 0.236952,
-    "recall-0.025": 0.008333,
-    "recall-0.05": 0.03,
-    "recall-0.1": 0.813333,
+    "mean": 0.090089,
+    "median": 0.086392,
+    "std": 0.032732,
+    "sem": 0.001337,
+    "min": 0.010219,
+    "max": 0.237936,
+    "recall-0.025": 0.006667,
+    "recall-0.05": 0.035,
+    "recall-0.1": 0.821667,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -177,46 +179,46 @@ Results of the model in various experiments on different datasets.
   },
   "hip_right": {
     "count": 600,
-    "mean": 0.113777,
-    "median": 0.112926,
-    "std": 0.026939,
-    "sem": 0.001101,
-    "min": 0.035267,
-    "max": 0.233528,
+    "mean": 0.114144,
+    "median": 0.112805,
+    "std": 0.026059,
+    "sem": 0.001065,
+    "min": 0.03471,
+    "max": 0.231222,
     "recall-0.025": 0.0,
     "recall-0.05": 0.01,
-    "recall-0.1": 0.226667,
-    "recall-0.15": 0.945,
+    "recall-0.1": 0.213333,
+    "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "knee_left": {
     "count": 600,
-    "mean": 0.061948,
-    "median": 0.045988,
-    "std": 0.058304,
-    "sem": 0.002382,
-    "min": 0.01465,
-    "max": 0.398223,
-    "recall-0.025": 0.036667,
-    "recall-0.05": 0.581667,
-    "recall-0.1": 0.9,
-    "recall-0.15": 0.925,
-    "recall-0.25": 0.981667,
+    "mean": 0.060487,
+    "median": 0.045169,
+    "std": 0.058631,
+    "sem": 0.002396,
+    "min": 0.018273,
+    "max": 0.415974,
+    "recall-0.025": 0.038333,
+    "recall-0.05": 0.603333,
+    "recall-0.1": 0.92,
+    "recall-0.15": 0.928333,
+    "recall-0.25": 0.98,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "knee_right": {
     "count": 600,
-    "mean": 0.052399,
-    "median": 0.043783,
-    "std": 0.037008,
-    "sem": 0.001512,
-    "min": 0.014119,
-    "max": 0.23986,
-    "recall-0.025": 0.04,
-    "recall-0.05": 0.725,
+    "mean": 0.052012,
+    "median": 0.043445,
+    "std": 0.036202,
+    "sem": 0.001479,
+    "min": 0.015586,
+    "max": 0.234792,
+    "recall-0.025": 0.033333,
+    "recall-0.05": 0.73,
     "recall-0.1": 0.936667,
     "recall-0.15": 0.94,
     "recall-0.25": 1.0,
@@ -224,50 +226,2865 @@ Results of the model in various experiments on different datasets.
     "num_labels": 600
   },
   "ankle_left": {
-    "count": 598,
-    "mean": 0.096902,
-    "median": 0.084781,
-    "std": 0.05173,
-    "sem": 0.002117,
-    "min": 0.044418,
-    "max": 0.499384,
+    "count": 597,
+    "mean": 0.096212,
+    "median": 0.084027,
+    "std": 0.051433,
+    "sem": 0.002107,
+    "min": 0.049764,
+    "max": 0.499526,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.003333,
-    "recall-0.1": 0.84,
-    "recall-0.15": 0.94,
+    "recall-0.05": 0.001667,
+    "recall-0.1": 0.845,
+    "recall-0.15": 0.936667,
     "recall-0.25": 0.98,
-    "recall-0.5": 0.996667,
+    "recall-0.5": 0.995,
     "num_labels": 600
   },
   "ankle_right": {
-    "count": 598,
-    "mean": 0.080563,
-    "median": 0.06808,
-    "std": 0.043343,
-    "sem": 0.001774,
-    "min": 0.031041,
-    "max": 0.379768,
+    "count": 600,
+    "mean": 0.079987,
+    "median": 0.067815,
+    "std": 0.046496,
+    "sem": 0.0019,
+    "min": 0.029049,
+    "max": 0.385925,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.023333,
-    "recall-0.1": 0.893333,
-    "recall-0.15": 0.915,
+    "recall-0.05": 0.021667,
+    "recall-0.1": 0.905,
+    "recall-0.15": 0.931667,
     "recall-0.25": 0.983333,
-    "recall-0.5": 0.996667,
+    "recall-0.5": 1.0,
     "num_labels": 600
   },
   "joint_recalls": {
     "num_labels": 7800,
-    "recall-0.025": 0.17295,
-    "recall-0.05": 0.46744,
-    "recall-0.1": 0.81782,
-    "recall-0.15": 0.93013,
-    "recall-0.25": 0.99372,
-    "recall-0.5": 0.99949
+    "recall-0.025": 0.1741,
+    "recall-0.05": 0.47513,
+    "recall-0.1": 0.82141,
+    "recall-0.15": 0.93064,
+    "recall-0.25": 0.99333,
+    "recall-0.5": 0.99936
   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8095,
-  "pcp": 0.96369
+  "correct_parts": 8102,
+  "pcp": 0.964524
+}
+```
+
+### Shelf
+
+```json
+{
+  "img_loading": 0.05844812458733103,
+  "avg_time_2d": 0.061463059428631235,
+  "avg_time_3d": 0.0011567078095531137,
+  "avg_fps": 15.969398228459381
+}
+{
+  "person_nums": {
+    "total_frames": 301,
+    "total_labels": 477,
+    "total_preds": 830,
+    "considered_empty": 0,
+    "valid_preds": 477,
+    "invalid_preds": 353,
+    "missing": 0,
+    "invalid_fraction": 0.4253,
+    "precision": 0.5747,
+    "recall": 1.0,
+    "f1": 0.72992,
+    "non_empty": 830
+  },
+  "mpjpe": {
+    "count": 477,
+    "mean": 0.048402,
+    "median": 0.043251,
+    "std": 0.014931,
+    "sem": 0.000684,
+    "min": 0.028086,
+    "max": 0.112554,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.683438,
+    "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": 0.368305,
+    "ap-0.1": 0.705194,
+    "ap-0.15": 0.717796,
+    "ap-0.25": 0.717796,
+    "ap-0.5": 0.717796
+  },
+  "head": {
+    "count": 477,
+    "mean": 0.05322,
+    "median": 0.049277,
+    "std": 0.024056,
+    "sem": 0.001103,
+    "min": 0.005257,
+    "max": 0.129773,
+    "recall-0.025": 0.081761,
+    "recall-0.05": 0.513627,
+    "recall-0.1": 0.937107,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "shoulder_left": {
+    "count": 477,
+    "mean": 0.043047,
+    "median": 0.038537,
+    "std": 0.020189,
+    "sem": 0.000925,
+    "min": 0.001732,
+    "max": 0.136917,
+    "recall-0.025": 0.155136,
+    "recall-0.05": 0.710692,
+    "recall-0.1": 0.987421,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "shoulder_right": {
+    "count": 477,
+    "mean": 0.050353,
+    "median": 0.046477,
+    "std": 0.023699,
+    "sem": 0.001086,
+    "min": 0.007115,
+    "max": 0.13734,
+    "recall-0.025": 0.109015,
+    "recall-0.05": 0.553459,
+    "recall-0.1": 0.951782,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "elbow_left": {
+    "count": 477,
+    "mean": 0.041709,
+    "median": 0.032985,
+    "std": 0.029126,
+    "sem": 0.001335,
+    "min": 0.004723,
+    "max": 0.320436,
+    "recall-0.025": 0.301887,
+    "recall-0.05": 0.742138,
+    "recall-0.1": 0.953878,
+    "recall-0.15": 0.997904,
+    "recall-0.25": 0.997904,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "elbow_right": {
+    "count": 477,
+    "mean": 0.053417,
+    "median": 0.045563,
+    "std": 0.040741,
+    "sem": 0.001867,
+    "min": 0.0018,
+    "max": 0.236595,
+    "recall-0.025": 0.262055,
+    "recall-0.05": 0.555556,
+    "recall-0.1": 0.895178,
+    "recall-0.15": 0.958071,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "wrist_left": {
+    "count": 477,
+    "mean": 0.060252,
+    "median": 0.053791,
+    "std": 0.039408,
+    "sem": 0.001806,
+    "min": 0.002539,
+    "max": 0.319587,
+    "recall-0.025": 0.142558,
+    "recall-0.05": 0.42348,
+    "recall-0.1": 0.897275,
+    "recall-0.15": 0.960168,
+    "recall-0.25": 0.991614,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "wrist_right": {
+    "count": 477,
+    "mean": 0.059418,
+    "median": 0.055276,
+    "std": 0.033082,
+    "sem": 0.001516,
+    "min": 0.007955,
+    "max": 0.343421,
+    "recall-0.025": 0.098532,
+    "recall-0.05": 0.417191,
+    "recall-0.1": 0.907757,
+    "recall-0.15": 0.985325,
+    "recall-0.25": 0.997904,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "hip_left": {
+    "count": 477,
+    "mean": 0.049054,
+    "median": 0.042994,
+    "std": 0.026142,
+    "sem": 0.001198,
+    "min": 0.006503,
+    "max": 0.138607,
+    "recall-0.025": 0.165618,
+    "recall-0.05": 0.607966,
+    "recall-0.1": 0.958071,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "hip_right": {
+    "count": 477,
+    "mean": 0.060183,
+    "median": 0.057545,
+    "std": 0.026063,
+    "sem": 0.001195,
+    "min": 0.002817,
+    "max": 0.16289,
+    "recall-0.025": 0.083857,
+    "recall-0.05": 0.33543,
+    "recall-0.1": 0.926625,
+    "recall-0.15": 0.995807,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "knee_left": {
+    "count": 477,
+    "mean": 0.040884,
+    "median": 0.038795,
+    "std": 0.024482,
+    "sem": 0.001122,
+    "min": 0.003199,
+    "max": 0.188865,
+    "recall-0.025": 0.251572,
+    "recall-0.05": 0.735849,
+    "recall-0.1": 0.972746,
+    "recall-0.15": 0.989518,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "knee_right": {
+    "count": 477,
+    "mean": 0.039962,
+    "median": 0.035624,
+    "std": 0.023542,
+    "sem": 0.001079,
+    "min": 0.006843,
+    "max": 0.188353,
+    "recall-0.025": 0.320755,
+    "recall-0.05": 0.710692,
+    "recall-0.1": 0.976939,
+    "recall-0.15": 0.997904,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "ankle_left": {
+    "count": 477,
+    "mean": 0.036684,
+    "median": 0.02754,
+    "std": 0.0311,
+    "sem": 0.001425,
+    "min": 0.005021,
+    "max": 0.212569,
+    "recall-0.025": 0.431866,
+    "recall-0.05": 0.821803,
+    "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": 0.041044,
+    "median": 0.03031,
+    "std": 0.037716,
+    "sem": 0.001729,
+    "min": 0.001631,
+    "max": 0.268853,
+    "recall-0.025": 0.318658,
+    "recall-0.05": 0.792453,
+    "recall-0.1": 0.928721,
+    "recall-0.15": 0.966457,
+    "recall-0.25": 0.997904,
+    "recall-0.5": 1.0,
+    "num_labels": 477
+  },
+  "joint_recalls": {
+    "num_labels": 6201,
+    "recall-0.025": 0.20835,
+    "recall-0.05": 0.60845,
+    "recall-0.1": 0.94001,
+    "recall-0.15": 0.98678,
+    "recall-0.25": 0.99871,
+    "recall-0.5": 1.0
+  }
+}
+{
+  "total_parts": 6678,
+  "correct_parts": 6616,
+  "pcp": 0.990716
+}
+```
+
+### H3WB
+
+##### default joints
+
+```json
+{
+  "img_loading": 0.026904404790777908,
+  "avg_time_2d": 0.024324122228120502,
+  "avg_time_3d": 0.0007598211890772769,
+  "avg_fps": 39.866139999119554
+}
+{
+  "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": 0.025701,
+    "median": 0.023958,
+    "std": 0.010643,
+    "sem": 0.000754,
+    "min": 0.012246,
+    "max": 0.121669,
+    "recall-0.025": 0.565,
+    "recall-0.05": 0.975,
+    "recall-0.1": 0.995,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200,
+    "ap-0.025": 0.47925,
+    "ap-0.05": 0.974667,
+    "ap-0.1": 0.995,
+    "ap-0.15": 1.0,
+    "ap-0.25": 1.0,
+    "ap-0.5": 1.0
+  },
+  "nose": {
+    "count": 200,
+    "mean": 0.038362,
+    "median": 0.029618,
+    "std": 0.030534,
+    "sem": 0.002164,
+    "min": 0.002044,
+    "max": 0.165617,
+    "recall-0.025": 0.45,
+    "recall-0.05": 0.765,
+    "recall-0.1": 0.94,
+    "recall-0.15": 0.995,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "shoulder_left": {
+    "count": 200,
+    "mean": 0.020179,
+    "median": 0.017204,
+    "std": 0.011917,
+    "sem": 0.000845,
+    "min": 0.002468,
+    "max": 0.090697,
+    "recall-0.025": 0.755,
+    "recall-0.05": 0.97,
+    "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": 0.026897,
+    "median": 0.023931,
+    "std": 0.013287,
+    "sem": 0.000942,
+    "min": 0.006371,
+    "max": 0.090547,
+    "recall-0.025": 0.53,
+    "recall-0.05": 0.935,
+    "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": 0.017061,
+    "median": 0.012005,
+    "std": 0.02008,
+    "sem": 0.001423,
+    "min": 0.001306,
+    "max": 0.219441,
+    "recall-0.025": 0.86,
+    "recall-0.05": 0.96,
+    "recall-0.1": 0.995,
+    "recall-0.15": 0.995,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "elbow_right": {
+    "count": 200,
+    "mean": 0.022246,
+    "median": 0.015135,
+    "std": 0.02094,
+    "sem": 0.001484,
+    "min": 0.002064,
+    "max": 0.137848,
+    "recall-0.025": 0.735,
+    "recall-0.05": 0.9,
+    "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": 0.024401,
+    "median": 0.018362,
+    "std": 0.024836,
+    "sem": 0.001761,
+    "min": 0.001874,
+    "max": 0.240281,
+    "recall-0.025": 0.67,
+    "recall-0.05": 0.9,
+    "recall-0.1": 0.985,
+    "recall-0.15": 0.995,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "wrist_right": {
+    "count": 200,
+    "mean": 0.031464,
+    "median": 0.023229,
+    "std": 0.026645,
+    "sem": 0.001889,
+    "min": 0.00246,
+    "max": 0.150991,
+    "recall-0.025": 0.525,
+    "recall-0.05": 0.835,
+    "recall-0.1": 0.97,
+    "recall-0.15": 0.995,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hip_left": {
+    "count": 200,
+    "mean": 0.038857,
+    "median": 0.036549,
+    "std": 0.01542,
+    "sem": 0.001093,
+    "min": 0.006233,
+    "max": 0.100519,
+    "recall-0.025": 0.175,
+    "recall-0.05": 0.78,
+    "recall-0.1": 0.995,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hip_right": {
+    "count": 200,
+    "mean": 0.037521,
+    "median": 0.037198,
+    "std": 0.014532,
+    "sem": 0.00103,
+    "min": 0.003326,
+    "max": 0.076818,
+    "recall-0.025": 0.215,
+    "recall-0.05": 0.82,
+    "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": 0.021295,
+    "median": 0.015474,
+    "std": 0.027265,
+    "sem": 0.001933,
+    "min": 0.001563,
+    "max": 0.332653,
+    "recall-0.025": 0.79,
+    "recall-0.05": 0.945,
+    "recall-0.1": 0.995,
+    "recall-0.15": 0.995,
+    "recall-0.25": 0.995,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "knee_right": {
+    "count": 200,
+    "mean": 0.020008,
+    "median": 0.013888,
+    "std": 0.020893,
+    "sem": 0.001481,
+    "min": 0.003082,
+    "max": 0.145077,
+    "recall-0.025": 0.845,
+    "recall-0.05": 0.93,
+    "recall-0.1": 0.975,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "ankle_left": {
+    "count": 200,
+    "mean": 0.017856,
+    "median": 0.012991,
+    "std": 0.027478,
+    "sem": 0.001948,
+    "min": 0.002079,
+    "max": 0.346202,
+    "recall-0.025": 0.875,
+    "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
+  },
+  "ankle_right": {
+    "count": 200,
+    "mean": 0.01797,
+    "median": 0.012724,
+    "std": 0.026658,
+    "sem": 0.00189,
+    "min": 0.001826,
+    "max": 0.337624,
+    "recall-0.025": 0.885,
+    "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
+  },
+  "joint_recalls": {
+    "num_labels": 2600,
+    "recall-0.025": 0.63923,
+    "recall-0.05": 0.89769,
+    "recall-0.1": 0.98654,
+    "recall-0.15": 0.99731,
+    "recall-0.25": 0.99885,
+    "recall-0.5": 1.0
+  }
+}
+{
+  "total_parts": 2800,
+  "correct_parts": 2793,
+  "pcp": 0.9975
+}
+```
+
+##### whole-body
+
+```json
+{
+  "img_loading": 0.026969775400663677,
+  "avg_time_2d": 0.03872783058568051,
+  "avg_time_3d": 0.0013835317210147255,
+  "avg_fps": 24.93059179476145
+}
+{
+  "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": 0.046197,
+    "median": 0.041761,
+    "std": 0.0194,
+    "sem": 0.001375,
+    "min": 0.020616,
+    "max": 0.170432,
+    "recall-0.025": 0.045,
+    "recall-0.05": 0.69,
+    "recall-0.1": 0.985,
+    "recall-0.15": 0.995,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200,
+    "ap-0.025": 0.017697,
+    "ap-0.05": 0.61806,
+    "ap-0.1": 0.983221,
+    "ap-0.15": 0.994725,
+    "ap-0.25": 1.0,
+    "ap-0.5": 1.0
+  },
+  "nose": {
+    "count": 200,
+    "mean": 0.050797,
+    "median": 0.03978,
+    "std": 0.039199,
+    "sem": 0.002779,
+    "min": 0.003982,
+    "max": 0.250676,
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+    "count": 198,
+    "mean": 0.056295,
+    "median": 0.029807,
+    "std": 0.076608,
+    "sem": 0.005458,
+    "min": 0.001997,
+    "max": 0.467204,
+    "recall-0.025": 0.43,
+    "recall-0.05": 0.69,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.9,
+    "recall-0.25": 0.955,
+    "recall-0.5": 0.99,
+    "num_labels": 200
+  },
+  "hand_finger_index_right_3": {
+    "count": 198,
+    "mean": 0.057349,
+    "median": 0.030955,
+    "std": 0.082503,
+    "sem": 0.005878,
+    "min": 0.001455,
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+    "recall-0.05": 0.69,
+    "recall-0.1": 0.88,
+    "recall-0.15": 0.905,
+    "recall-0.25": 0.95,
+    "recall-0.5": 0.99,
+    "num_labels": 200
+  },
+  "hand_finger_index_right_4": {
+    "count": 200,
+    "mean": 0.056815,
+    "median": 0.030331,
+    "std": 0.07714,
+    "sem": 0.005468,
+    "min": 0.004929,
+    "max": 0.491893,
+    "recall-0.025": 0.42,
+    "recall-0.05": 0.715,
+    "recall-0.1": 0.9,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.955,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_middle_right_1": {
+    "count": 198,
+    "mean": 0.053854,
+    "median": 0.027083,
+    "std": 0.074008,
+    "sem": 0.005273,
+    "min": 0.002072,
+    "max": 0.485326,
+    "recall-0.025": 0.465,
+    "recall-0.05": 0.715,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.92,
+    "recall-0.25": 0.95,
+    "recall-0.5": 0.99,
+    "num_labels": 200
+  },
+  "hand_finger_middle_right_2": {
+    "count": 199,
+    "mean": 0.05677,
+    "median": 0.026951,
+    "std": 0.085211,
+    "sem": 0.006056,
+    "min": 0.003008,
+    "max": 0.495437,
+    "recall-0.025": 0.455,
+    "recall-0.05": 0.71,
+    "recall-0.1": 0.87,
+    "recall-0.15": 0.89,
+    "recall-0.25": 0.945,
+    "recall-0.5": 0.995,
+    "num_labels": 200
+  },
+  "hand_finger_middle_right_3": {
+    "count": 199,
+    "mean": 0.053515,
+    "median": 0.030211,
+    "std": 0.072598,
+    "sem": 0.005159,
+    "min": 0.002132,
+    "max": 0.401496,
+    "recall-0.025": 0.415,
+    "recall-0.05": 0.73,
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+    "recall-0.15": 0.91,
+    "recall-0.25": 0.95,
+    "recall-0.5": 0.995,
+    "num_labels": 200
+  },
+  "hand_finger_middle_right_4": {
+    "count": 199,
+    "mean": 0.057042,
+    "median": 0.032348,
+    "std": 0.073728,
+    "sem": 0.00524,
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+    "max": 0.439183,
+    "recall-0.025": 0.39,
+    "recall-0.05": 0.69,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.905,
+    "recall-0.25": 0.955,
+    "recall-0.5": 0.995,
+    "num_labels": 200
+  },
+  "hand_finger_ring_right_1": {
+    "count": 200,
+    "mean": 0.05356,
+    "median": 0.028634,
+    "std": 0.067352,
+    "sem": 0.004774,
+    "min": 0.004392,
+    "max": 0.386647,
+    "recall-0.025": 0.425,
+    "recall-0.05": 0.725,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.92,
+    "recall-0.25": 0.96,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_ring_right_2": {
+    "count": 200,
+    "mean": 0.055553,
+    "median": 0.02804,
+    "std": 0.076135,
+    "sem": 0.005397,
+    "min": 0.003368,
+    "max": 0.459696,
+    "recall-0.025": 0.435,
+    "recall-0.05": 0.69,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.9,
+    "recall-0.25": 0.95,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_ring_right_3": {
+    "count": 199,
+    "mean": 0.054818,
+    "median": 0.028825,
+    "std": 0.075995,
+    "sem": 0.005401,
+    "min": 0.002343,
+    "max": 0.480185,
+    "recall-0.025": 0.41,
+    "recall-0.05": 0.7,
+    "recall-0.1": 0.87,
+    "recall-0.15": 0.905,
+    "recall-0.25": 0.95,
+    "recall-0.5": 0.995,
+    "num_labels": 200
+  },
+  "hand_finger_ring_right_4": {
+    "count": 199,
+    "mean": 0.055624,
+    "median": 0.030902,
+    "std": 0.067245,
+    "sem": 0.004779,
+    "min": 0.002169,
+    "max": 0.411928,
+    "recall-0.025": 0.355,
+    "recall-0.05": 0.685,
+    "recall-0.1": 0.85,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.965,
+    "recall-0.5": 0.995,
+    "num_labels": 200
+  },
+  "hand_finger_pinky_right_1": {
+    "count": 200,
+    "mean": 0.054869,
+    "median": 0.029925,
+    "std": 0.06697,
+    "sem": 0.004747,
+    "min": 0.002927,
+    "max": 0.394986,
+    "recall-0.025": 0.43,
+    "recall-0.05": 0.675,
+    "recall-0.1": 0.86,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.965,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_pinky_right_2": {
+    "count": 200,
+    "mean": 0.057561,
+    "median": 0.029461,
+    "std": 0.074345,
+    "sem": 0.00527,
+    "min": 0.003186,
+    "max": 0.466551,
+    "recall-0.025": 0.41,
+    "recall-0.05": 0.665,
+    "recall-0.1": 0.855,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.96,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_pinky_right_3": {
+    "count": 200,
+    "mean": 0.056693,
+    "median": 0.030745,
+    "std": 0.072023,
+    "sem": 0.005106,
+    "min": 0.002749,
+    "max": 0.488146,
+    "recall-0.025": 0.385,
+    "recall-0.05": 0.68,
+    "recall-0.1": 0.85,
+    "recall-0.15": 0.91,
+    "recall-0.25": 0.965,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hand_finger_pinky_right_4": {
+    "count": 200,
+    "mean": 0.058664,
+    "median": 0.034805,
+    "std": 0.076445,
+    "sem": 0.005419,
+    "min": 0.004289,
+    "max": 0.490469,
+    "recall-0.025": 0.345,
+    "recall-0.05": 0.66,
+    "recall-0.1": 0.855,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.96,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "hip_middle": {
+    "count": 200,
+    "mean": 0.030224,
+    "median": 0.027772,
+    "std": 0.014291,
+    "sem": 0.001013,
+    "min": 0.002425,
+    "max": 0.070526,
+    "recall-0.025": 0.41,
+    "recall-0.05": 0.89,
+    "recall-0.1": 1.0,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "shoulder_middle": {
+    "count": 200,
+    "mean": 0.019436,
+    "median": 0.017023,
+    "std": 0.010959,
+    "sem": 0.000777,
+    "min": 0.001397,
+    "max": 0.066326,
+    "recall-0.025": 0.745,
+    "recall-0.05": 0.985,
+    "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": 0.032589,
+    "median": 0.029766,
+    "std": 0.018091,
+    "sem": 0.001282,
+    "min": 0.004104,
+    "max": 0.087894,
+    "recall-0.025": 0.405,
+    "recall-0.05": 0.815,
+    "recall-0.1": 1.0,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
+    "num_labels": 200
+  },
+  "body_errors": {
+    "body": {
+      "count": 5199,
+      "mean": 0.030433,
+      "median": 0.023747,
+      "std": 0.025567,
+      "sem": 0.001813,
+      "min": 0.002786,
+      "max": 0.177744,
+      "num_labels": 5200
+    },
+    "face": {
+      "count": 13597,
+      "mean": 0.049569,
+      "median": 0.039992,
+      "std": 0.03574,
+      "sem": 0.002534,
+      "min": 0.005138,
+      "max": 0.236464,
+      "num_labels": 13600
+    },
+    "hand": {
+      "count": 8382,
+      "mean": 0.049167,
+      "median": 0.02687,
+      "std": 0.06459,
+      "sem": 0.004584,
+      "min": 0.002988,
+      "max": 0.416518,
+      "num_labels": 8400
+    }
+  },
+  "joint_recalls": {
+    "num_labels": 27200,
+    "recall-0.025": 0.40507,
+    "recall-0.05": 0.70088,
+    "recall-0.1": 0.91066,
+    "recall-0.15": 0.96184,
+    "recall-0.25": 0.98857,
+    "recall-0.5": 0.99919
+  }
+}
+{
+  "total_parts": 2800,
+  "correct_parts": 2794,
+  "pcp": 0.997857
 }
 ```

From 1ca755f76373b48c3e5b0f4570f3b9f3d3d39999 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Mon, 20 Jan 2025 16:40:28 +0100
Subject: [PATCH 09/12] Building ros for jetson.

---
 extras/jetson/README.md              | 17 ++++++++
 extras/jetson/dockerfile_ros         | 60 ++++++++++++++++++++++++++++
 ros/rpt2D_wrapper_cpp/CMakeLists.txt |  6 ++-
 3 files changed, 82 insertions(+), 1 deletion(-)
 create mode 100644 extras/jetson/dockerfile_ros

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 0fd6781..74a43a4 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -93,3 +93,20 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   ```bash
   python3 /RapidPoseTriangulation/scripts/test_triangulate.py
   ```
+
+- Evaluate datasets:
+
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_skelda_dataset.py
+  ```
+
+<br>
+
+## ROS interface
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f extras/jetson/dockerfile_ros -t rapidposetriangulation_ros .
+  ./run_container.sh
+  ```
diff --git a/extras/jetson/dockerfile_ros b/extras/jetson/dockerfile_ros
new file mode 100644
index 0000000..fa61044
--- /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 ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/
+COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/
+
+# Link and build as ros package
+RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py
+RUN ln -s  /RapidPoseTriangulation/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/ros/rpt2D_wrapper_cpp/CMakeLists.txt b/ros/rpt2D_wrapper_cpp/CMakeLists.txt
index aa93999..1c8e14e 100644
--- a/ros/rpt2D_wrapper_cpp/CMakeLists.txt
+++ b/ros/rpt2D_wrapper_cpp/CMakeLists.txt
@@ -23,11 +23,15 @@ find_package(sensor_msgs REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
 
-### 3) ONNX Runtime 
+### 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)

From 874f83f0857411a3cdc86f70621a6b92e4117149 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Wed, 22 Jan 2025 12:30:59 +0100
Subject: [PATCH 10/12] Some jetson specific ros updates.

---
 extras/jetson/README.md          |  8 +++++++
 extras/jetson/docker-compose.yml | 38 ++++++++++++++++++++++++++++++++
 extras/jetson/dockerfile_ros     |  8 +++----
 3 files changed, 50 insertions(+), 4 deletions(-)
 create mode 100644 extras/jetson/docker-compose.yml

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 74a43a4..e666bf1 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -110,3 +110,11 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   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/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_ros b/extras/jetson/dockerfile_ros
index fa61044..dd086b8 100644
--- a/extras/jetson/dockerfile_ros
+++ b/extras/jetson/dockerfile_ros
@@ -40,12 +40,12 @@ RUN cd /project/dev_ws/; colcon build
 RUN echo "source /project/dev_ws/install/setup.bash" >> ~/.bashrc
 
 # Copy modules
-COPY ./ros/rpt2D_wrapper_py /RapidPoseTriangulation/ros/rpt2D_wrapper_py/
-COPY ./ros/rpt2D_wrapper_cpp /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/
+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/ros/rpt2D_wrapper_py/ /project/dev_ws/src/rpt2D_wrapper_py
-RUN ln -s  /RapidPoseTriangulation/ros/rpt2D_wrapper_cpp/ /project/dev_ws/src/rpt2D_wrapper_cpp
+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

From ee2bbcf83a24d70dedd1057584544d89c6d508fa Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Wed, 22 Jan 2025 13:49:00 +0100
Subject: [PATCH 11/12] Updated benchmark results.

---
 extras/jetson/README.md  |   19 +
 extras/jetson/RESULTS.md | 4280 ++++++++++++++++++++------------------
 2 files changed, 2332 insertions(+), 1967 deletions(-)

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index e666bf1..6c3707c 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -86,6 +86,25 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 
   ```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:
diff --git a/extras/jetson/RESULTS.md b/extras/jetson/RESULTS.md
index 3bc7210..45e26bb 100644
--- a/extras/jetson/RESULTS.md
+++ b/extras/jetson/RESULTS.md
@@ -7,10 +7,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.019871617979922537,
-  "avg_time_2d": 0.024201560020446777,
-  "avg_time_3d": 0.0006943431951231876,
-  "avg_fps": 40.16725126785508
+  "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": {
@@ -29,165 +44,165 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.066544,
-    "median": 0.058633,
-    "std": 0.027907,
-    "sem": 0.00114,
-    "min": 0.044045,
-    "max": 0.190448,
+    "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": 0.055,
+    "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": 0.006816,
-    "ap-0.1": 0.892957,
-    "ap-0.15": 0.915918,
+    "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": 0.113926,
-    "median": 0.096371,
-    "std": 0.04379,
-    "sem": 0.001789,
-    "min": 0.026343,
-    "max": 0.29862,
+    "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": 0.015,
-    "recall-0.1": 0.531667,
-    "recall-0.15": 0.813333,
-    "recall-0.25": 0.988333,
+    "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": 0.033951,
-    "median": 0.025071,
-    "std": 0.032164,
-    "sem": 0.001314,
-    "min": 0.002309,
-    "max": 0.181442,
-    "recall-0.025": 0.495,
-    "recall-0.05": 0.861667,
-    "recall-0.1": 0.941667,
-    "recall-0.15": 0.968333,
+    "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": 0.047367,
-    "median": 0.034223,
-    "std": 0.041566,
-    "sem": 0.001698,
-    "min": 0.004691,
-    "max": 0.260949,
-    "recall-0.025": 0.221667,
-    "recall-0.05": 0.761667,
-    "recall-0.1": 0.918333,
-    "recall-0.15": 0.94,
-    "recall-0.25": 0.996667,
+    "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": 0.042654,
-    "median": 0.034221,
-    "std": 0.034687,
-    "sem": 0.001417,
-    "min": 0.003159,
-    "max": 0.200759,
-    "recall-0.025": 0.263333,
-    "recall-0.05": 0.818333,
-    "recall-0.1": 0.943333,
-    "recall-0.15": 0.96,
+    "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": 0.043257,
-    "median": 0.032602,
-    "std": 0.034101,
-    "sem": 0.001393,
-    "min": 0.006362,
-    "max": 0.204302,
-    "recall-0.025": 0.236667,
-    "recall-0.05": 0.795,
-    "recall-0.1": 0.935,
-    "recall-0.15": 0.946667,
-    "recall-0.25": 1.0,
+    "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": 0.04175,
-    "median": 0.024365,
-    "std": 0.045669,
-    "sem": 0.001866,
-    "min": 0.002452,
-    "max": 0.307723,
-    "recall-0.025": 0.513333,
-    "recall-0.05": 0.765,
-    "recall-0.1": 0.89,
-    "recall-0.15": 0.933333,
-    "recall-0.25": 0.998333,
+    "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": 0.046283,
-    "median": 0.026429,
-    "std": 0.055176,
-    "sem": 0.002256,
-    "min": 0.002881,
-    "max": 0.43245,
-    "recall-0.025": 0.463333,
+    "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": 0.908333,
-    "recall-0.25": 0.993333,
+    "recall-0.15": 0.906667,
+    "recall-0.25": 0.986667,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "hip_left": {
     "count": 600,
-    "mean": 0.090089,
-    "median": 0.086392,
-    "std": 0.032732,
-    "sem": 0.001337,
-    "min": 0.010219,
-    "max": 0.237936,
-    "recall-0.025": 0.006667,
-    "recall-0.05": 0.035,
-    "recall-0.1": 0.821667,
-    "recall-0.15": 0.95,
+    "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": 0.114144,
-    "median": 0.112805,
-    "std": 0.026059,
-    "sem": 0.001065,
-    "min": 0.03471,
-    "max": 0.231222,
-    "recall-0.025": 0.0,
-    "recall-0.05": 0.01,
-    "recall-0.1": 0.213333,
+    "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,
@@ -195,82 +210,82 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 600,
-    "mean": 0.060487,
-    "median": 0.045169,
-    "std": 0.058631,
-    "sem": 0.002396,
-    "min": 0.018273,
-    "max": 0.415974,
-    "recall-0.025": 0.038333,
-    "recall-0.05": 0.603333,
-    "recall-0.1": 0.92,
-    "recall-0.15": 0.928333,
-    "recall-0.25": 0.98,
+    "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": 0.052012,
-    "median": 0.043445,
-    "std": 0.036202,
-    "sem": 0.001479,
-    "min": 0.015586,
-    "max": 0.234792,
-    "recall-0.025": 0.033333,
-    "recall-0.05": 0.73,
-    "recall-0.1": 0.936667,
-    "recall-0.15": 0.94,
-    "recall-0.25": 1.0,
+    "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": 597,
-    "mean": 0.096212,
-    "median": 0.084027,
-    "std": 0.051433,
-    "sem": 0.002107,
-    "min": 0.049764,
-    "max": 0.499526,
+    "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": 0.001667,
-    "recall-0.1": 0.845,
-    "recall-0.15": 0.936667,
-    "recall-0.25": 0.98,
-    "recall-0.5": 0.995,
+    "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": 600,
-    "mean": 0.079987,
-    "median": 0.067815,
-    "std": 0.046496,
-    "sem": 0.0019,
-    "min": 0.029049,
-    "max": 0.385925,
+    "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": 0.021667,
-    "recall-0.1": 0.905,
-    "recall-0.15": 0.931667,
-    "recall-0.25": 0.983333,
-    "recall-0.5": 1.0,
+    "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": 0.1741,
-    "recall-0.05": 0.47513,
-    "recall-0.1": 0.82141,
-    "recall-0.15": 0.93064,
-    "recall-0.25": 0.99333,
-    "recall-0.5": 0.99936
+    "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": 8102,
-  "pcp": 0.964524
+  "correct_parts": 8125,
+  "pcp": 0.967262
 }
 ```
 
@@ -278,75 +293,90 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.05844812458733103,
-  "avg_time_2d": 0.061463059428631235,
-  "avg_time_3d": 0.0011567078095531137,
-  "avg_fps": 15.969398228459381
+  "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": 830,
+    "total_preds": 846,
     "considered_empty": 0,
     "valid_preds": 477,
-    "invalid_preds": 353,
+    "invalid_preds": 369,
     "missing": 0,
-    "invalid_fraction": 0.4253,
-    "precision": 0.5747,
+    "invalid_fraction": 0.43617,
+    "precision": 0.56383,
     "recall": 1.0,
-    "f1": 0.72992,
-    "non_empty": 830
+    "f1": 0.72109,
+    "non_empty": 846
   },
   "mpjpe": {
     "count": 477,
-    "mean": 0.048402,
-    "median": 0.043251,
-    "std": 0.014931,
+    "mean": 0.048053,
+    "median": 0.042925,
+    "std": 0.014919,
     "sem": 0.000684,
-    "min": 0.028086,
-    "max": 0.112554,
+    "min": 0.030316,
+    "max": 0.127538,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.683438,
+    "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": 0.368305,
-    "ap-0.1": 0.705194,
-    "ap-0.15": 0.717796,
-    "ap-0.25": 0.717796,
-    "ap-0.5": 0.717796
+    "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": 0.05322,
-    "median": 0.049277,
-    "std": 0.024056,
-    "sem": 0.001103,
-    "min": 0.005257,
-    "max": 0.129773,
-    "recall-0.025": 0.081761,
-    "recall-0.05": 0.513627,
-    "recall-0.1": 0.937107,
-    "recall-0.15": 1.0,
+    "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": 0.043047,
-    "median": 0.038537,
-    "std": 0.020189,
-    "sem": 0.000925,
-    "min": 0.001732,
-    "max": 0.136917,
-    "recall-0.025": 0.155136,
-    "recall-0.05": 0.710692,
-    "recall-0.1": 0.987421,
+    "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,
@@ -354,15 +384,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 477,
-    "mean": 0.050353,
-    "median": 0.046477,
-    "std": 0.023699,
-    "sem": 0.001086,
-    "min": 0.007115,
-    "max": 0.13734,
-    "recall-0.025": 0.109015,
-    "recall-0.05": 0.553459,
-    "recall-0.1": 0.951782,
+    "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,
@@ -370,15 +400,15 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 477,
-    "mean": 0.041709,
-    "median": 0.032985,
-    "std": 0.029126,
-    "sem": 0.001335,
-    "min": 0.004723,
-    "max": 0.320436,
-    "recall-0.025": 0.301887,
-    "recall-0.05": 0.742138,
-    "recall-0.1": 0.953878,
+    "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,
@@ -386,63 +416,63 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_right": {
     "count": 477,
-    "mean": 0.053417,
-    "median": 0.045563,
-    "std": 0.040741,
-    "sem": 0.001867,
-    "min": 0.0018,
-    "max": 0.236595,
-    "recall-0.025": 0.262055,
-    "recall-0.05": 0.555556,
-    "recall-0.1": 0.895178,
-    "recall-0.15": 0.958071,
+    "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": 0.060252,
-    "median": 0.053791,
-    "std": 0.039408,
-    "sem": 0.001806,
-    "min": 0.002539,
-    "max": 0.319587,
-    "recall-0.025": 0.142558,
-    "recall-0.05": 0.42348,
-    "recall-0.1": 0.897275,
-    "recall-0.15": 0.960168,
-    "recall-0.25": 0.991614,
+    "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": 0.059418,
-    "median": 0.055276,
-    "std": 0.033082,
-    "sem": 0.001516,
-    "min": 0.007955,
-    "max": 0.343421,
-    "recall-0.025": 0.098532,
-    "recall-0.05": 0.417191,
-    "recall-0.1": 0.907757,
-    "recall-0.15": 0.985325,
+    "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": 0.049054,
-    "median": 0.042994,
-    "std": 0.026142,
+    "mean": 0.04787,
+    "median": 0.042247,
+    "std": 0.026144,
     "sem": 0.001198,
-    "min": 0.006503,
-    "max": 0.138607,
-    "recall-0.025": 0.165618,
-    "recall-0.05": 0.607966,
-    "recall-0.1": 0.958071,
+    "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,
@@ -450,31 +480,31 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
     "count": 477,
-    "mean": 0.060183,
-    "median": 0.057545,
-    "std": 0.026063,
-    "sem": 0.001195,
-    "min": 0.002817,
-    "max": 0.16289,
-    "recall-0.025": 0.083857,
-    "recall-0.05": 0.33543,
-    "recall-0.1": 0.926625,
-    "recall-0.15": 0.995807,
+    "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": 0.040884,
-    "median": 0.038795,
-    "std": 0.024482,
-    "sem": 0.001122,
-    "min": 0.003199,
-    "max": 0.188865,
-    "recall-0.025": 0.251572,
-    "recall-0.05": 0.735849,
-    "recall-0.1": 0.972746,
+    "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,
@@ -482,30 +512,30 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039962,
-    "median": 0.035624,
-    "std": 0.023542,
-    "sem": 0.001079,
-    "min": 0.006843,
-    "max": 0.188353,
-    "recall-0.025": 0.320755,
-    "recall-0.05": 0.710692,
+    "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": 0.997904,
+    "recall-0.15": 0.995807,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "ankle_left": {
     "count": 477,
-    "mean": 0.036684,
-    "median": 0.02754,
-    "std": 0.0311,
-    "sem": 0.001425,
-    "min": 0.005021,
-    "max": 0.212569,
-    "recall-0.025": 0.431866,
-    "recall-0.05": 0.821803,
+    "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,
@@ -514,34 +544,320 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 477,
-    "mean": 0.041044,
-    "median": 0.03031,
-    "std": 0.037716,
-    "sem": 0.001729,
-    "min": 0.001631,
-    "max": 0.268853,
-    "recall-0.025": 0.318658,
-    "recall-0.05": 0.792453,
-    "recall-0.1": 0.928721,
-    "recall-0.15": 0.966457,
-    "recall-0.25": 0.997904,
+    "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": 0.20835,
-    "recall-0.05": 0.60845,
-    "recall-0.1": 0.94001,
-    "recall-0.15": 0.98678,
-    "recall-0.25": 0.99871,
+    "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": 6616,
-  "pcp": 0.990716
+  "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
 }
 ```
 
@@ -551,10 +867,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.026904404790777908,
-  "avg_time_2d": 0.024324122228120502,
-  "avg_time_3d": 0.0007598211890772769,
-  "avg_fps": 39.866139999119554
+  "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": {
@@ -573,52 +904,52 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 200,
-    "mean": 0.025701,
-    "median": 0.023958,
-    "std": 0.010643,
-    "sem": 0.000754,
-    "min": 0.012246,
-    "max": 0.121669,
-    "recall-0.025": 0.565,
+    "mean": 0.023565,
+    "median": 0.021741,
+    "std": 0.010774,
+    "sem": 0.000764,
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@@ -627,14 +958,14 @@ Results of the model in various experiments on different datasets. \
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@@ -643,30 +974,30 @@ Results of the model in various experiments on different datasets. \
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@@ -675,31 +1006,31 @@ Results of the model in various experiments on different datasets. \
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@@ -707,15 +1038,15 @@ Results of the model in various experiments on different datasets. \
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@@ -723,14 +1054,14 @@ Results of the model in various experiments on different datasets. \
   },
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@@ -739,45 +1070,13 @@ Results of the model in various experiments on different datasets. \
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@@ -785,15 +1084,31 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 200
   },
-  "ankle_right": {
+  "knee_right": {
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@@ -801,20 +1116,36 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 200
   },
+  "ankle_right": {
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   "joint_recalls": {
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+    "recall-0.25": 0.99731,
+    "recall-0.5": 0.99962
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 }
 {
   "total_parts": 2800,
-  "correct_parts": 2793,
-  "pcp": 0.9975
+  "correct_parts": 2794,
+  "pcp": 0.997857
 }
 ```
 
@@ -822,10 +1153,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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+  "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,
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+  "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": {
@@ -844,69 +1190,69 @@ Results of the model in various experiments on different datasets. \
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@@ -914,31 +1260,31 @@ Results of the model in various experiments on different datasets. \
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@@ -946,15 +1292,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
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     "recall-0.5": 1.0,
@@ -962,14 +1308,14 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
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     "num_labels": 200
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   "hand_finger_ring_right_3": {
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     "num_labels": 200
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   "hand_finger_pinky_right_4": {
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+    "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": 0.855,
-    "recall-0.15": 0.915,
-    "recall-0.25": 0.96,
-    "recall-0.5": 1.0,
+    "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": 0.030224,
-    "median": 0.027772,
-    "std": 0.014291,
-    "sem": 0.001013,
-    "min": 0.002425,
-    "max": 0.070526,
-    "recall-0.025": 0.41,
-    "recall-0.05": 0.89,
-    "recall-0.1": 1.0,
-    "recall-0.15": 1.0,
+    "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": 0.019436,
-    "median": 0.017023,
-    "std": 0.010959,
-    "sem": 0.000777,
-    "min": 0.001397,
-    "max": 0.066326,
-    "recall-0.025": 0.745,
-    "recall-0.05": 0.985,
+    "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,
@@ -3026,15 +3372,15 @@ Results of the model in various experiments on different datasets. \
   },
   "head": {
     "count": 200,
-    "mean": 0.032589,
-    "median": 0.029766,
-    "std": 0.018091,
-    "sem": 0.001282,
-    "min": 0.004104,
-    "max": 0.087894,
+    "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": 0.815,
-    "recall-0.1": 1.0,
+    "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,
@@ -3042,49 +3388,49 @@ Results of the model in various experiments on different datasets. \
   },
   "body_errors": {
     "body": {
-      "count": 5199,
-      "mean": 0.030433,
-      "median": 0.023747,
-      "std": 0.025567,
-      "sem": 0.001813,
-      "min": 0.002786,
-      "max": 0.177744,
+      "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": 0.049569,
-      "median": 0.039992,
-      "std": 0.03574,
-      "sem": 0.002534,
-      "min": 0.005138,
-      "max": 0.236464,
+      "mean": 0.048241,
+      "median": 0.040051,
+      "std": 0.032103,
+      "sem": 0.002276,
+      "min": 0.005474,
+      "max": 0.216164,
       "num_labels": 13600
     },
     "hand": {
-      "count": 8382,
-      "mean": 0.049167,
-      "median": 0.02687,
-      "std": 0.06459,
-      "sem": 0.004584,
-      "min": 0.002988,
-      "max": 0.416518,
+      "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": 0.40507,
-    "recall-0.05": 0.70088,
-    "recall-0.1": 0.91066,
-    "recall-0.15": 0.96184,
-    "recall-0.25": 0.98857,
-    "recall-0.5": 0.99919
+    "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": 2794,
-  "pcp": 0.997857
+  "correct_parts": 2785,
+  "pcp": 0.994643
 }
 ```

From f7ef72d5395f663bdcf412cfa5c1d98fc46b21b9 Mon Sep 17 00:00:00 2001
From: Isse <isse@agx1.de>
Date: Thu, 23 Jan 2025 11:00:20 +0100
Subject: [PATCH 12/12] Small readme updates.

---
 extras/jetson/README.md | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index 6c3707c..2a38870 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -17,7 +17,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 
   ```bash
   sudo apt install -y curl nano wget git
-  sudo apt install -y terminator
   ```
 
 - Test docker is working:
@@ -47,9 +46,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 
   Restart docker: `sudo systemctl restart docker`
 
-- Install _vs-code_: \
-  (https://code.visualstudio.com/docs/setup/linux)
-
 - Test docker is working:
 
   ```bash
@@ -58,12 +54,6 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
   docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
   ```
 
-- Check _cuda_ access in container:
-
-  ```bash
-  python3 -c 'import torch; print(torch.cuda.is_available());'
-  ```
-
 - Enable maximum performance mode:
 
   ```bash