diff --git a/poetry.lock b/poetry.lock
index b782d601..064e0011 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -45,13 +45,13 @@ files = [
 
 [[package]]
 name = "anyio"
-version = "4.3.0"
+version = "4.4.0"
 description = "High level compatibility layer for multiple asynchronous event loop implementations"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "anyio-4.3.0.tar.gz", hash = "sha256:f75253795a87df48568485fd18cdd2a3fa5c4f7c5be8e5e36637733fce06fed6"},
+    {file = "anyio-4.4.0-py3-none-any.whl", hash = "sha256:c1b2d8f46a8a812513012e1107cb0e68c17159a7a594208005a57dc776e1bdc7"},
+    {file = "anyio-4.4.0.tar.gz", hash = "sha256:5aadc6a1bbb7cdb0bede386cac5e2940f5e2ff3aa20277e991cf028e0585ce94"},
 ]
 
 [package.dependencies]
@@ -104,13 +104,13 @@ tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "p
 
 [[package]]
 name = "babel"
-version = "2.14.0"
+version = "2.15.0"
 description = "Internationalization utilities"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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+    {file = "Babel-2.15.0-py3-none-any.whl", hash = "sha256:08706bdad8d0a3413266ab61bd6c34d0c28d6e1e7badf40a2cebe67644e2e1fb"},
+    {file = "babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413"},
 ]
 
 [package.extras]
@@ -139,13 +139,13 @@ lxml = ["lxml"]
 
 [[package]]
 name = "blinker"
-version = "1.8.1"
+version = "1.8.2"
 description = "Fast, simple object-to-object and broadcast signaling"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "blinker-1.8.2-py3-none-any.whl", hash = "sha256:1779309f71bf239144b9399d06ae925637cf6634cf6bd131104184531bf67c01"},
+    {file = "blinker-1.8.2.tar.gz", hash = "sha256:8f77b09d3bf7c795e969e9486f39c2c5e9c39d4ee07424be2bc594ece9642d83"},
 ]
 
 [[package]]
@@ -205,13 +205,13 @@ files = [
 
 [[package]]
 name = "certifi"
-version = "2024.2.2"
+version = "2024.6.2"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
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+    {file = "certifi-2024.6.2-py3-none-any.whl", hash = "sha256:ddc6c8ce995e6987e7faf5e3f1b02b302836a0e5d98ece18392cb1a36c72ad56"},
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 ]
 
 [[package]]
@@ -728,63 +728,63 @@ url = "happypose/pose_estimators/cosypose"
 
 [[package]]
 name = "coverage"
-version = "7.5.0"
+version = "7.5.3"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.extras]
@@ -1175,13 +1175,13 @@ files = [
 
 [[package]]
 name = "fsspec"
-version = "2024.3.1"
+version = "2024.6.0"
 description = "File-system specification"
 optional = true
 python-versions = ">=3.8"
 files = [
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 [package.extras]
@@ -1189,7 +1189,8 @@ abfs = ["adlfs"]
 adl = ["adlfs"]
 arrow = ["pyarrow (>=1)"]
 dask = ["dask", "distributed"]
-devel = ["pytest", "pytest-cov"]
+dev = ["pre-commit", "ruff"]
+doc = ["numpydoc", "sphinx", "sphinx-design", "sphinx-rtd-theme", "yarl"]
 dropbox = ["dropbox", "dropboxdrivefs", "requests"]
 full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
 fuse = ["fusepy"]
@@ -1206,6 +1207,9 @@ s3 = ["s3fs"]
 sftp = ["paramiko"]
 smb = ["smbprotocol"]
 ssh = ["paramiko"]
+test = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "numpy", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "requests"]
+test-downstream = ["aiobotocore (>=2.5.4,<3.0.0)", "dask-expr", "dask[dataframe,test]", "moto[server] (>4,<5)", "pytest-timeout", "xarray"]
+test-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "cloudpickle", "dask", "distributed", "dropbox", "dropboxdrivefs", "fastparquet", "fusepy", "gcsfs", "jinja2", "kerchunk", "libarchive-c", "lz4", "notebook", "numpy", "ocifs", "pandas", "panel", "paramiko", "pyarrow", "pyarrow (>=1)", "pyftpdlib", "pygit2", "pytest", "pytest-asyncio (!=0.22.0)", "pytest-benchmark", "pytest-cov", "pytest-mock", "pytest-recording", "pytest-rerunfailures", "python-snappy", "requests", "smbprotocol", "tqdm", "urllib3", "zarr", "zstandard"]
 tqdm = ["tqdm"]
 
 [[package]]
@@ -1536,6 +1540,20 @@ files = [
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 ]
 
+[[package]]
+name = "intel-openmp"
+version = "2021.4.0"
+description = "Intel OpenMP* Runtime Library"
+optional = true
+python-versions = "*"
+files = [
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+]
+
 [[package]]
 name = "ipython"
 version = "8.18.1"
@@ -1575,13 +1593,13 @@ test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.22)", "pa
 
 [[package]]
 name = "ipython"
-version = "8.24.0"
+version = "8.25.0"
 description = "IPython: Productive Interactive Computing"
 optional = false
 python-versions = ">=3.10"
 files = [
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 ]
 
 [package.dependencies]
@@ -1600,7 +1618,7 @@ typing-extensions = {version = ">=4.6", markers = "python_version < \"3.12\""}
 [package.extras]
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-doc = ["docrepr", "exceptiongroup", "ipykernel", "ipython[test]", "matplotlib", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "sphinxcontrib-jquery", "stack-data", "typing-extensions"]
+doc = ["docrepr", "exceptiongroup", "intersphinx-registry", "ipykernel", "ipython[test]", "matplotlib", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "sphinxcontrib-jquery", "tomli", "typing-extensions"]
 kernel = ["ipykernel"]
 matplotlib = ["matplotlib"]
 nbconvert = ["nbconvert"]
@@ -1643,13 +1661,13 @@ testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
 name = "jinja2"
-version = "3.1.3"
+version = "3.1.4"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -1660,24 +1678,24 @@ i18n = ["Babel (>=2.7)"]
 
 [[package]]
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+version = "1.4.2"
 description = "Lightweight pipelining with Python functions"
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 python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
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-version = "4.21.1"
+version = "4.22.0"
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 optional = false
 python-versions = ">=3.8"
 files = [
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 python-versions = ">=3.9"
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 ]
 
 [package.dependencies]
@@ -2010,12 +2029,15 @@ cycler = ">=0.10"
 fonttools = ">=4.22.0"
 importlib-resources = {version = ">=3.2.0", markers = "python_version < \"3.10\""}
 kiwisolver = ">=1.3.1"
-numpy = ">=1.21"
+numpy = ">=1.23"
 packaging = ">=20.0"
 pillow = ">=8"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
+[package.extras]
+dev = ["meson-python (>=0.13.1)", "numpy (>=1.25)", "pybind11 (>=2.6)", "setuptools (>=64)", "setuptools_scm (>=7)"]
+
 [[package]]
 name = "matplotlib-inline"
 version = "0.1.7"
@@ -2032,13 +2054,13 @@ traitlets = "*"
 
 [[package]]
 name = "mdit-py-plugins"
-version = "0.4.0"
+version = "0.4.1"
 description = "Collection of plugins for markdown-it-py"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -2080,6 +2102,24 @@ pyzmq = ">=17.0.0"
 tornado = ">=4.0.0"
 u-msgpack-python = ">=2.4.1"
 
+[[package]]
+name = "mkl"
+version = "2021.4.0"
+description = "Intel® oneAPI Math Kernel Library"
+optional = true
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+intel-openmp = "==2021.*"
+tbb = "==2021.*"
+
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -2185,18 +2225,15 @@ test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "nodeenv"
-version = "1.8.0"
+version = "1.9.1"
 description = "Node.js virtual environment builder"
 optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
 files = [
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+    {file = "nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f"},
 ]
 
-[package.dependencies]
-setuptools = "*"
-
 [[package]]
 name = "numpy"
 version = "1.26.4"
@@ -2242,6 +2279,148 @@ files = [
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 ]
 
+[[package]]
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+version = "12.1.3.1"
+description = "CUBLAS native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
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+]
+
+[[package]]
+name = "nvidia-cuda-cupti-cu12"
+version = "12.1.105"
+description = "CUDA profiling tools runtime libs."
+optional = true
+python-versions = ">=3"
+files = [
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+[[package]]
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+version = "12.1.105"
+description = "NVRTC native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
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+]
+
+[[package]]
+name = "nvidia-cuda-runtime-cu12"
+version = "12.1.105"
+description = "CUDA Runtime native Libraries"
+optional = true
+python-versions = ">=3"
+files = [
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+[[package]]
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+optional = true
+python-versions = ">=3"
+files = [
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+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+
+[[package]]
+name = "nvidia-cufft-cu12"
+version = "11.0.2.54"
+description = "CUFFT native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
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+[[package]]
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+version = "10.3.2.106"
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+optional = true
+python-versions = ">=3"
+files = [
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+optional = true
+python-versions = ">=3"
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+[package.dependencies]
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+nvidia-cusparse-cu12 = "*"
+nvidia-nvjitlink-cu12 = "*"
+
+[[package]]
+name = "nvidia-cusparse-cu12"
+version = "12.1.0.106"
+description = "CUSPARSE native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
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+    {file = "nvidia_cusparse_cu12-12.1.0.106-py3-none-win_amd64.whl", hash = "sha256:b798237e81b9719373e8fae8d4f091b70a0cf09d9d85c95a557e11df2d8e9a5a"},
+]
+
+[package.dependencies]
+nvidia-nvjitlink-cu12 = "*"
+
+[[package]]
+name = "nvidia-nccl-cu12"
+version = "2.20.5"
+description = "NVIDIA Collective Communication Library (NCCL) Runtime"
+optional = true
+python-versions = ">=3"
+files = [
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+    {file = "nvidia_nccl_cu12-2.20.5-py3-none-manylinux2014_x86_64.whl", hash = "sha256:057f6bf9685f75215d0c53bf3ac4a10b3e6578351de307abad9e18a99182af56"},
+]
+
+[[package]]
+name = "nvidia-nvjitlink-cu12"
+version = "12.5.40"
+description = "Nvidia JIT LTO Library"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_nvjitlink_cu12-12.5.40-py3-none-manylinux2014_x86_64.whl", hash = "sha256:d9714f27c1d0f0895cd8915c07a87a1d0029a0aa36acaf9156952ec2a8a12189"},
+    {file = "nvidia_nvjitlink_cu12-12.5.40-py3-none-win_amd64.whl", hash = "sha256:c3401dc8543b52d3a8158007a0c1ab4e9c768fcbd24153a48c86972102197ddd"},
+]
+
+[[package]]
+name = "nvidia-nvtx-cu12"
+version = "12.1.105"
+description = "NVIDIA Tools Extension"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_nvtx_cu12-12.1.105-py3-none-manylinux1_x86_64.whl", hash = "sha256:dc21cf308ca5691e7c04d962e213f8a4aa9bbfa23d95412f452254c2caeb09e5"},
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+]
+
 [[package]]
 name = "omegaconf"
 version = "2.3.0"
@@ -2297,18 +2476,18 @@ werkzeug = ">=2.2.3"
 
 [[package]]
 name = "opencv-contrib-python"
-version = "4.9.0.80"
+version = "4.10.0.82"
 description = "Wrapper package for OpenCV python bindings."
 optional = true
 python-versions = ">=3.6"
 files = [
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+    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ef43af7f9e37b0f01c6f9a3e1e67e0ff4a29a23c2640c02103d60cd99de624b"},
+    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fc1b43342a2923796823763b12c79064a4401e51a1364eab4e97faf5bddaaff"},
+    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:edf8ecff55fddf04dc54c2875682d1fb6a4081a7c6b5c2d2272ea3b56b983d7a"},
+    {file = "opencv_contrib_python-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:4a3f5cc748868b4d9f59a5c8b228dc5e64bf20f3cb8ad6c46212057588cd3ce9"},
 ]
 
 [package.dependencies]
@@ -2321,18 +2500,18 @@ numpy = [
 
 [[package]]
 name = "opencv-python"
-version = "4.9.0.80"
+version = "4.10.0.82"
 description = "Wrapper package for OpenCV python bindings."
 optional = true
 python-versions = ">=3.6"
 files = [
-    {file = "opencv-python-4.9.0.80.tar.gz", hash = "sha256:1a9f0e6267de3a1a1db0c54213d022c7c8b5b9ca4b580e80bdc58516c922c9e1"},
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+    {file = "opencv_python-4.10.0.82-cp37-abi3-macosx_12_0_x86_64.whl", hash = "sha256:e6be19a0615aa8c4e0d34e0c7b133e26e386f4b7e9b557b69479104ab2c133ec"},
+    {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b49e530f7fd86f671514b39ffacdf5d14ceb073bc79d0de46bbb6b0cad78eaf"},
+    {file = "opencv_python-4.10.0.82-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:955c5ce8ac90c9e4636ad7f5c0d9c75b80abbe347182cfd09b0e3eec6e50472c"},
+    {file = "opencv_python-4.10.0.82-cp37-abi3-win32.whl", hash = "sha256:ff54adc9e4daaf438e669664af08bec4a268c7b7356079338b8e4fae03810f2c"},
+    {file = "opencv_python-4.10.0.82-cp37-abi3-win_amd64.whl", hash = "sha256:2e3c2557b176f1e528417520a52c0600a92c1bb1c359f3df8e6411ab4293f065"},
 ]
 
 [package.dependencies]
@@ -2667,13 +2846,13 @@ build = ["cmeel-urdfdom[build] (>=3.1.1.1,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.1"
+version = "4.2.2"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "platformdirs-4.2.2-py3-none-any.whl", hash = "sha256:2d7a1657e36a80ea911db832a8a6ece5ee53d8de21edd5cc5879af6530b1bfee"},
+    {file = "platformdirs-4.2.2.tar.gz", hash = "sha256:38b7b51f512eed9e84a22788b4bce1de17c0adb134d6becb09836e37d8654cd3"},
 ]
 
 [package.extras]
@@ -2683,13 +2862,13 @@ type = ["mypy (>=1.8)"]
 
 [[package]]
 name = "plotly"
-version = "5.21.0"
+version = "5.22.0"
 description = "An open-source, interactive data visualization library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "plotly-5.22.0.tar.gz", hash = "sha256:859fdadbd86b5770ae2466e542b761b247d1c6b49daed765b95bb8c7063e7469"},
 ]
 
 [package.dependencies]
@@ -2727,13 +2906,13 @@ numpy = ">=1.17"
 
 [[package]]
 name = "pre-commit"
-version = "3.7.0"
+version = "3.7.1"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -2745,13 +2924,13 @@ virtualenv = ">=20.10.0"
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.43"
+version = "3.0.46"
 description = "Library for building powerful interactive command lines in Python"
 optional = false
 python-versions = ">=3.7.0"
 files = [
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+    {file = "prompt_toolkit-3.0.46.tar.gz", hash = "sha256:869c50d682152336e23c4db7f74667639b5047494202ffe7670817053fd57795"},
 ]
 
 [package.dependencies]
@@ -2873,17 +3052,16 @@ files = [
 
 [[package]]
 name = "pygments"
-version = "2.17.2"
+version = "2.18.0"
 description = "Pygments is a syntax highlighting package written in Python."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
-plugins = ["importlib-metadata"]
 windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
@@ -2969,13 +3147,13 @@ files = [
 
 [[package]]
 name = "pytest"
-version = "8.2.0"
+version = "8.2.2"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -3099,99 +3277,99 @@ files = [
 
 [[package]]
 name = "pyzmq"
-version = "26.0.2"
+version = "26.0.3"
 description = "Python bindings for 0MQ"
 optional = false
 python-versions = ">=3.7"
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 ]
 
 [package.dependencies]
@@ -3547,13 +3728,13 @@ stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
 
 [[package]]
 name = "selenium"
-version = "4.20.0"
+version = "4.21.0"
 description = ""
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -3565,19 +3746,18 @@ urllib3 = {version = ">=1.26,<3", extras = ["socks"]}
 
 [[package]]
 name = "setuptools"
-version = "69.5.1"
+version = "70.0.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
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 [[package]]
 name = "simplejson"
@@ -3892,17 +4072,17 @@ tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
 
 [[package]]
 name = "sympy"
-version = "1.12"
+version = "1.12.1"
 description = "Computer algebra system (CAS) in Python"
 optional = true
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
-mpmath = ">=0.19"
+mpmath = ">=1.1.0,<1.4.0"
 
 [[package]]
 name = "tabulate"
@@ -3918,19 +4098,33 @@ files = [
 [package.extras]
 widechars = ["wcwidth"]
 
+[[package]]
+name = "tbb"
+version = "2021.12.0"
+description = "Intel® oneAPI Threading Building Blocks (oneTBB)"
+optional = true
+python-versions = "*"
+files = [
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+
 [[package]]
 name = "tenacity"
-version = "8.2.3"
+version = "8.3.0"
 description = "Retry code until it succeeds"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
-doc = ["reno", "sphinx", "tornado (>=4.5)"]
+doc = ["reno", "sphinx"]
+test = ["pytest", "tornado (>=4.5)", "typeguard"]
 
 [[package]]
 name = "tensorboard"
@@ -3978,13 +4172,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2024.4.24"
+version = "2024.5.22"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
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 [package.dependencies]
@@ -4004,6 +4198,46 @@ files = [
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 ]
 
+[[package]]
+name = "torch"
+version = "2.1.0"
+description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
+optional = true
+python-versions = ">=3.8.0"
+files = [
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+[package.dependencies]
+filelock = "*"
+fsspec = "*"
+jinja2 = "*"
+networkx = "*"
+sympy = "*"
+typing-extensions = "*"
+
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+
 [[package]]
 name = "torch"
 version = "2.1.0+cpu"
@@ -4038,6 +4272,60 @@ type = "legacy"
 url = "https://download.pytorch.org/whl/cpu"
 reference = "torch_cpu"
 
+[[package]]
+name = "torch"
+version = "2.3.1"
+description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
+optional = true
+python-versions = ">=3.8.0"
+files = [
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+[package.dependencies]
+filelock = "*"
+fsspec = "*"
+jinja2 = "*"
+mkl = {version = ">=2021.1.1,<=2021.4.0", markers = "platform_system == \"Windows\""}
+networkx = "*"
+nvidia-cublas-cu12 = {version = "12.1.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cuda-cupti-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cuda-nvrtc-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cuda-runtime-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cudnn-cu12 = {version = "8.9.2.26", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cufft-cu12 = {version = "11.0.2.54", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-curand-cu12 = {version = "10.3.2.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cusolver-cu12 = {version = "11.4.5.107", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-cusparse-cu12 = {version = "12.1.0.106", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-nccl-cu12 = {version = "2.20.5", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+nvidia-nvtx-cu12 = {version = "12.1.105", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+sympy = "*"
+triton = {version = "2.3.1", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\" and python_version < \"3.12\""}
+typing-extensions = ">=4.8.0"
+
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+optree = ["optree (>=0.9.1)"]
+
 [[package]]
 name = "torchtnt"
 version = "0.2.4"
@@ -4065,6 +4353,44 @@ typing-extensions = "*"
 [package.extras]
 dev = ["parameterized", "pyre-check", "pytest", "pytest-cov", "torchsnapshot-nightly", "torchvision (==0.15.2)"]
 
+[[package]]
+name = "torchvision"
+version = "0.16.0"
+description = "image and video datasets and models for torch deep learning"
+optional = true
+python-versions = ">=3.8"
+files = [
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+    {file = "torchvision-0.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:550c9793637c5369fbcb4e4b6b0e6d53a4f6cc22389f0563ad60ab90e4f1c8ba"},
+    {file = "torchvision-0.16.0-cp39-cp39-macosx_10_13_x86_64.whl", hash = "sha256:de7c7302fa2f67a2a151e595a8e7dc3865a445d952e99d5c682ba78f312fedc3"},
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+    {file = "torchvision-0.16.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:8cb501061f6654da494dd975acc1fa301c4b8aacf96bdbcf1553f51a53ebfd1f"},
+    {file = "torchvision-0.16.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:5a47108ae6a8effdf09fe35fd0c4d5414e69ca8d2334e87339de497b7b64b0c9"},
+    {file = "torchvision-0.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:9b8f06e6a2f80576007b88846f74b680a1ad3b59d2e22b075587b430180e9cfa"},
+]
+
+[package.dependencies]
+numpy = "*"
+pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
+requests = "*"
+torch = "2.1.0"
+
+[package.extras]
+scipy = ["scipy"]
+
 [[package]]
 name = "torchvision"
 version = "0.16.0+cpu"
@@ -4118,13 +4444,13 @@ files = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.2"
+version = "4.66.4"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.2-py3-none-any.whl", hash = "sha256:1ee4f8a893eb9bef51c6e35730cebf234d5d0b6bd112b0271e10ed7c24a02bd9"},
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+    {file = "tqdm-4.66.4-py3-none-any.whl", hash = "sha256:b75ca56b413b030bc3f00af51fd2c1a1a5eac6a0c1cca83cbb37a5c52abce644"},
+    {file = "tqdm-4.66.4.tar.gz", hash = "sha256:e4d936c9de8727928f3be6079590e97d9abfe8d39a590be678eb5919ffc186bb"},
 ]
 
 [package.dependencies]
@@ -4184,13 +4510,13 @@ test = ["autopep8 (<2)", "coveralls", "ezdxf", "pyinstrument", "pymeshlab", "pyt
 
 [[package]]
 name = "trio"
-version = "0.25.0"
+version = "0.25.1"
 description = "A friendly Python library for async concurrency and I/O"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "trio-0.25.0-py3-none-any.whl", hash = "sha256:e6458efe29cc543e557a91e614e2b51710eba2961669329ce9c862d50c6e8e81"},
-    {file = "trio-0.25.0.tar.gz", hash = "sha256:9b41f5993ad2c0e5f62d0acca320ec657fdb6b2a2c22b8c7aed6caf154475c4e"},
+    {file = "trio-0.25.1-py3-none-any.whl", hash = "sha256:e42617ba091e7b2e50c899052e83a3c403101841de925187f61e7b7eaebdf3fb"},
+    {file = "trio-0.25.1.tar.gz", hash = "sha256:9f5314f014ea3af489e77b001861c535005c3858d38ec46b6b071ebfa339d7fb"},
 ]
 
 [package.dependencies]
@@ -4218,15 +4544,38 @@ exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
 trio = ">=0.11"
 wsproto = ">=0.14"
 
+[[package]]
+name = "triton"
+version = "2.3.1"
+description = "A language and compiler for custom Deep Learning operations"
+optional = true
+python-versions = "*"
+files = [
+    {file = "triton-2.3.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3c84595cbe5e546b1b290d2a58b1494df5a2ef066dd890655e5b8a8a92205c33"},
+    {file = "triton-2.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c9d64ae33bcb3a7a18081e3a746e8cf87ca8623ca13d2c362413ce7a486f893e"},
+    {file = "triton-2.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eaf80e8761a9e3498aa92e7bf83a085b31959c61f5e8ac14eedd018df6fccd10"},
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+    {file = "triton-2.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1d968264523c7a07911c8fb51b4e0d1b920204dae71491b1fe7b01b62a31e124"},
+]
+
+[package.dependencies]
+filelock = "*"
+
+[package.extras]
+build = ["cmake (>=3.20)", "lit"]
+tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)", "torch"]
+tutorials = ["matplotlib", "pandas", "tabulate", "torch"]
+
 [[package]]
 name = "typing-extensions"
-version = "4.11.0"
+version = "4.12.1"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.11.0-py3-none-any.whl", hash = "sha256:c1f94d72897edaf4ce775bb7558d5b79d8126906a14ea5ed1635921406c0387a"},
-    {file = "typing_extensions-4.11.0.tar.gz", hash = "sha256:83f085bd5ca59c80295fc2a82ab5dac679cbe02b9f33f7d83af68e241bea51b0"},
+    {file = "typing_extensions-4.12.1-py3-none-any.whl", hash = "sha256:6024b58b69089e5a89c347397254e35f1bf02a907728ec7fee9bf0fe837d203a"},
+    {file = "typing_extensions-4.12.1.tar.gz", hash = "sha256:915f5e35ff76f56588223f15fdd5938f9a1cf9195c0de25130c627e4d597f6d1"},
 ]
 
 [[package]]
@@ -4288,13 +4637,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.0"
+version = "20.26.2"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.0-py3-none-any.whl", hash = "sha256:0846377ea76e818daaa3e00a4365c018bc3ac9760cbb3544de542885aad61fb3"},
-    {file = "virtualenv-20.26.0.tar.gz", hash = "sha256:ec25a9671a5102c8d2657f62792a27b48f016664c6873f6beed3800008577210"},
+    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
+    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
 ]
 
 [package.dependencies]
@@ -4391,13 +4740,13 @@ pyyaml = "*"
 
 [[package]]
 name = "werkzeug"
-version = "3.0.2"
+version = "3.0.3"
 description = "The comprehensive WSGI web application library."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "werkzeug-3.0.2-py3-none-any.whl", hash = "sha256:3aac3f5da756f93030740bc235d3e09449efcf65f2f55e3602e1d851b8f48795"},
-    {file = "werkzeug-3.0.2.tar.gz", hash = "sha256:e39b645a6ac92822588e7b39a692e7828724ceae0b0d702ef96701f90e70128d"},
+    {file = "werkzeug-3.0.3-py3-none-any.whl", hash = "sha256:fc9645dc43e03e4d630d23143a04a7f947a9a3b5727cd535fdfe155a17cc48c8"},
+    {file = "werkzeug-3.0.3.tar.gz", hash = "sha256:097e5bfda9f0aba8da6b8545146def481d06aa7d3266e7448e2cccf67dd8bd18"},
 ]
 
 [package.dependencies]
@@ -4422,62 +4771,62 @@ h11 = ">=0.9.0,<1"
 
 [[package]]
 name = "xarray"
-version = "2024.3.0"
+version = "2024.5.0"
 description = "N-D labeled arrays and datasets in Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "xarray-2024.3.0-py3-none-any.whl", hash = "sha256:ca2bc4da2bf2e7879e15862a7a7c3fc76ad19f6a08931d030220cef39a29118d"},
-    {file = "xarray-2024.3.0.tar.gz", hash = "sha256:5c1db19efdde61db7faedad8fc944f4e29698fb6fbd578d352668b63598bd1d8"},
+    {file = "xarray-2024.5.0-py3-none-any.whl", hash = "sha256:7ddedfe2294a0ab00f02d0fbdcb9c6300ec589f3cf436a9c7b7b577a12cd9bcf"},
+    {file = "xarray-2024.5.0.tar.gz", hash = "sha256:e0eb1cb265f265126795f388ed9591f3c752f2aca491f6c0576711fd15b708f2"},
 ]
 
 [package.dependencies]
 numpy = ">=1.23"
-packaging = ">=22"
-pandas = ">=1.5"
+packaging = ">=23.1"
+pandas = ">=2.0"
 
 [package.extras]
 accel = ["bottleneck", "flox", "numbagg", "opt-einsum", "scipy"]
 complete = ["xarray[accel,dev,io,parallel,viz]"]
-dev = ["hypothesis", "pre-commit", "pytest", "pytest-cov", "pytest-env", "pytest-timeout", "pytest-xdist", "ruff", "xarray[complete]"]
+dev = ["hypothesis", "mypy", "pre-commit", "pytest", "pytest-cov", "pytest-env", "pytest-timeout", "pytest-xdist", "ruff", "xarray[complete]"]
 io = ["cftime", "fsspec", "h5netcdf", "netCDF4", "pooch", "pydap", "scipy", "zarr"]
 parallel = ["dask[complete]"]
 viz = ["matplotlib", "nc-time-axis", "seaborn"]
 
 [[package]]
 name = "xyzservices"
-version = "2024.4.0"
+version = "2024.6.0"
 description = "Source of XYZ tiles providers"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "xyzservices-2024.4.0-py3-none-any.whl", hash = "sha256:b83e48c5b776c9969fffcfff57b03d02b1b1cd6607a9d9c4e7f568b01ef47f4c"},
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+    {file = "xyzservices-2024.6.0-py3-none-any.whl", hash = "sha256:fecb2508f0f2b71c819aecf5df2c03cef001c56a4b49302e640f3b34710d25e4"},
+    {file = "xyzservices-2024.6.0.tar.gz", hash = "sha256:58c1bdab4257d2551b9ef91cd48571f77b7c4d2bc45bf5e3c05ac97b3a4d7282"},
 ]
 
 [[package]]
 name = "zipp"
-version = "3.18.1"
+version = "3.19.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
-    {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
+    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
+    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
 ]
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [extras]
 cpu = ["torch", "torch", "torchvision", "torchvision"]
 evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
-pypi = ["opencv-contrib-python", "opencv-python", "pin"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin", "torchtnt"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "55ff2a5e1ec28987f2039c367913c97a5711bcacbe0fb5edffc52fb29fa13345"
+content-hash = "90097fc3e21f011f0e561acc2420bc00ab2b1d305422b7e7e79c1dc05875a89d"
diff --git a/pyproject.toml b/pyproject.toml
index 952907a7..de9281de 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -75,7 +75,7 @@ cpu = ["torch", "torchvision"]
 evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
-pypi = ["opencv-contrib-python", "opencv-python", "pin"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin", "torchtnt"]
 
 [tool.poetry.group.dev]
 optional = true