I tried everything using multi node setup but I am still getting the double skeletons

[Grunkhead]

I am currently running with 3 esp32s3. Each one of them is configured with a custom node id, tdm and a total tdm which is the same across all nodes (value set to 3). I am running the wifi-densepose-v1 model on my server (laptop, does speed matter much? Its an older Thinkpad without GPU). The environment source is set to esp32.

My sensing looks like this:

And my live demo (source set to to esp32) looks like this

What am I doing wrong? I have 2 more esp32's to add.

How do I physically need to install the esp32's in order to let them create stable data. Currently they are placed almost in a square.

Would really like to have some help. Thx.

[droidblastnz]

same makes no sense

[ruvnet]

Double skeletons in a multi-node TDM setup usually come from two sources:

1. Node placement — the most common cause
For 3 nodes, spread them around the room perimeter for maximum angular diversity. Place one on each of three different walls (or corners), not clustered in a square. When nodes are too close together or face the same direction, they capture overlapping multipath reflections of the same person, which the fusion layer can interpret as separate people. Each node should have a distinct geometric viewpoint of the space.

2. Missing background calibration
The multi-node pose estimator needs a clean empty-room baseline before it can correctly separate people from reflections. If your version supports it, run the calibration endpoint (POST /api/v1/calibration/start) with nobody in the room first. Without this, ambient multipath from walls and furniture can register as phantom detections.

Debugging approach:

• Start with a single node and confirm it correctly shows 1 person before adding more nodes
• Add nodes one at a time; the step where the ghost appears tells you which node is causing the multipath confusion
• On a CPU-only laptop (no GPU), the model inference will be slower but should still produce correct single-person output — speed is unlikely to be the cause here

The same symptom is reported in #496 and #494. It's a known calibration-sensitive behavior in the multi-node fusion pipeline, not a fundamental limitation of the setup.

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Generated by Claude Code

[xiaofuchen]

在多节点TDM设置中，双骨架通常来自两个来源：

1. 节点放置——最常见的原因： 对于 3 个节点，应将它们分散放置在房间四周，以获得最大的角度多样性。每个节点应放置在三个不同的墙壁（或角落）上，而不是呈正方形聚集。当节点靠得太近或朝向同一方向时，它们会捕捉到同一个人的重叠多径反射，融合层可能会将其解释为不同的人。每个节点都应该具有不同的空间几何视角。

2. 背景校准缺失 多节点姿态估计器需要一个干净的空房间基线才能正确区分人和反射。如果您的版本支持，POST /api/v1/calibration/start请先在房间内无人的情况下运行校准端点（）。否则，墙壁和家具产生的环境多径效应可能会被误判为幽灵目标。

调试方法：

• 先添加一个节点，确认它正确显示1个人后再添加更多节点。
• 一次添加一个节点；出现“幽灵”现象的步骤会告诉你哪个节点导致了多路径混乱。
• 在只有CPU（没有GPU）的笔记本电脑上，模型推理速度会较慢，但仍然应该能生成正确的单人输出——速度不太可能是造成这种情况的原因。

#496和#494中也报告了同样的症状。这是多节点融合流程中已知的对校准敏感的行为，而不是设置的基本限制。

由Claude Code生成

C:\Users\nengg>curl -X POST http://localhost:8080/api/v1/calibration/start
{"message":"Calibration started — keep room empty while frames accumulate.","success":true}
C:\Users\nengg>curl http://localhost:8080/api/v1/calibration/status
{"active":true,"frame_count":0,"status":"Uncalibrated"}
一直没法正确背景校准