From 63ad217f832d8a0d56e78f20ec637f66854622ec Mon Sep 17 00:00:00 2001
From: cleong110 <cleong1@udayton.edu>
Date: Fri, 8 Mar 2024 11:42:08 -0500
Subject: [PATCH 1/9] CDL: minor doc typo fix

---
 docs/specs/v0.1.md | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/docs/specs/v0.1.md b/docs/specs/v0.1.md
index b3ea36b..32b2be1 100644
--- a/docs/specs/v0.1.md
+++ b/docs/specs/v0.1.md
@@ -24,10 +24,16 @@
 \[`unsigned short` Green]
 \[`unsigned short` Blue]
 
+
+[Testing comment syntax from https://stackoverflow.com/a/32190021]: # 
+
 # Body
-\[`unsined short` FPS]
-\[`unsined short` Number of frames] # THIS IS A PROBLEM
-\[`unsined short` Number of people]
+\[`unsigned short` FPS]
+
+
+[THIS IS A PROBLEM]: # 
+\[`unsigned short` Number of frames] 
+\[`unsigned short` Number of people]
 
 ## For every frame
 #### For every person:

From 6d18ed642f883ab128e783915193f27900eef975 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Thu, 19 Dec 2024 09:39:31 -0500
Subject: [PATCH 2/9] Undoing some changes that got mixed in

---
 docs/specs/v0.1.md | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/docs/specs/v0.1.md b/docs/specs/v0.1.md
index a75b0a2..2ee3aaa 100644
--- a/docs/specs/v0.1.md
+++ b/docs/specs/v0.1.md
@@ -26,12 +26,9 @@
 
 
 # Body
-\[`unsigned short` FPS]
-
-
-[THIS IS A PROBLEM]: # 
-\[`unsigned short` Number of frames] 
-\[`unsigned short` Number of people]
+\[`unsined short` FPS]
+\[`unsined short` Number of frames] # THIS IS A PROBLEM
+\[`unsined short` Number of people]
 
 ## For every frame
 #### For every person:

From 48332f9e4754066eb78893b4601f96fdae5421b6 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Tue, 28 Jan 2025 15:44:46 -0500
Subject: [PATCH 3/9] Add Pose .copy() and .remove_components()

---
 src/python/pose_format/pose.py | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/src/python/pose_format/pose.py b/src/python/pose_format/pose.py
index 06dbfab..98fef70 100644
--- a/src/python/pose_format/pose.py
+++ b/src/python/pose_format/pose.py
@@ -202,6 +202,28 @@ def frame_dropout_normal(self, dropout_mean: float = 0.5, dropout_std: float = 0
         """
         body, selected_indexes = self.body.frame_dropout_normal(dropout_mean=dropout_mean, dropout_std=dropout_std)
         return Pose(header=self.header, body=body), selected_indexes
+    
+    
+    def remove_components(self, components_to_remove: List[str], points_to_remove: Union[Dict[str, List[str]],None] = None):
+        
+        if isinstance(components_to_remove, str):
+            components_to_remove = [components_to_remove]
+
+        components_to_keep = []
+        points_dict = {}
+
+        for component in self.header.components:
+            if component.name not in components_to_remove:
+                components_to_keep.append(component.name)
+                points_dict[component.name] = []
+                if points_to_remove is not None:
+                    for point in component.points:                    
+                        if point not in points_to_remove[component.name]:
+                            points_dict[component.name].append(point)
+
+        return self.get_components(components_to_keep, points_dict)
+        
+    
 
     def get_components(self, components: List[str], points: Union[Dict[str, List[str]],None] = None):
         """
@@ -253,6 +275,10 @@ def get_components(self, components: List[str], points: Union[Dict[str, List[str
         new_body = self.body.get_points(flat_indexes)
 
         return Pose(header=new_header, body=new_body)
+    
+
+    def copy(self):
+        return self.get_components([c.name for c in self.header.components])
 
     def bbox(self):
         """

From 3e5b0025d77011f5940919c43beb51b6a1e773c0 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Wed, 29 Jan 2025 09:06:36 -0500
Subject: [PATCH 4/9] fix type annotation in pose remove_components

---
 src/python/pose_format/pose.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/python/pose_format/pose.py b/src/python/pose_format/pose.py
index 98fef70..c798c21 100644
--- a/src/python/pose_format/pose.py
+++ b/src/python/pose_format/pose.py
@@ -204,7 +204,7 @@ def frame_dropout_normal(self, dropout_mean: float = 0.5, dropout_std: float = 0
         return Pose(header=self.header, body=body), selected_indexes
     
     
-    def remove_components(self, components_to_remove: List[str], points_to_remove: Union[Dict[str, List[str]],None] = None):
+    def remove_components(self, components_to_remove: Union[str, List[str]], points_to_remove: Union[Dict[str, List[str]],None] = None):
         
         if isinstance(components_to_remove, str):
             components_to_remove = [components_to_remove]

From ca284ad2ee9b77513f1108fad7130aa6ccc5270c Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Wed, 29 Jan 2025 12:05:12 -0500
Subject: [PATCH 5/9] Adding copy functions to posebodies, and tests for this

---
 src/python/pose_format/numpy/pose_body.py     |   6 +
 src/python/pose_format/pose.py                |   2 +-
 src/python/pose_format/pose_body.py           |  28 +--
 .../pose_format/tensorflow/pose_body.py       |  13 ++
 src/python/pose_format/torch/pose_body.py     |  15 ++
 src/python/tests/pose_test.py                 | 176 +++++++++++++++++-
 6 files changed, 225 insertions(+), 15 deletions(-)

diff --git a/src/python/pose_format/numpy/pose_body.py b/src/python/pose_format/numpy/pose_body.py
index 38fed36..ccd0e14 100644
--- a/src/python/pose_format/numpy/pose_body.py
+++ b/src/python/pose_format/numpy/pose_body.py
@@ -128,6 +128,12 @@ def write(self, version: float, buffer: BinaryIO):
         buffer.write(np.array(self.data.data, dtype=np.float32).tobytes())
         buffer.write(np.array(self.confidence, dtype=np.float32).tobytes())
 
+    def copy(self) -> PoseBody:
+        return type(self)(fps=self.fps,
+                          data=self.data.copy(),
+                          confidence=self.confidence.copy()
+                          )
+
     @property
     def mask(self):
         """ Returns  mask associated with data. """
diff --git a/src/python/pose_format/pose.py b/src/python/pose_format/pose.py
index c798c21..5031f64 100644
--- a/src/python/pose_format/pose.py
+++ b/src/python/pose_format/pose.py
@@ -278,7 +278,7 @@ def get_components(self, components: List[str], points: Union[Dict[str, List[str
     
 
     def copy(self):
-        return self.get_components([c.name for c in self.header.components])
+        return self.__class__(self.header, self.body.copy())
 
     def bbox(self):
         """
diff --git a/src/python/pose_format/pose_body.py b/src/python/pose_format/pose_body.py
index ca0a0da..b9e7f84 100644
--- a/src/python/pose_format/pose_body.py
+++ b/src/python/pose_format/pose_body.py
@@ -1,5 +1,5 @@
 from random import sample
-from typing import BinaryIO, List, Tuple
+from typing import BinaryIO, List, Tuple, Optional
 
 import numpy as np
 import math
@@ -93,8 +93,8 @@ def read_v0_1_frames(cls,
                          frames: int,
                          shape: List[int],
                          reader: BufferReader,
-                         start_frame: int = None,
-                         end_frame: int = None):
+                         start_frame: Optional[int] = None,
+                         end_frame: Optional[int] = None):
         """
         Reads frame data for version 0.1 from a buffer.
 
@@ -149,8 +149,8 @@ def read_v0_1_frames(cls,
     def read_v0_1(cls,
                   header: PoseHeader,
                   reader: BufferReader,
-                  start_frame: int = None,
-                  end_frame: int = None,
+                  start_frame: Optional[int] = None,
+                  end_frame: Optional[int] = None,
                   **unused_kwargs) -> "PoseBody":
         """
         Reads pose data for version 0.1 from a buffer.
@@ -191,10 +191,10 @@ def read_v0_1(cls,
     def read_v0_2(cls,
                   header: PoseHeader,
                   reader: BufferReader,
-                  start_frame: int = None,
-                  end_frame: int = None,
-                  start_time: int = None,
-                  end_time: int = None,
+                  start_frame: Optional[int] = None,
+                  end_frame: Optional[int] = None,
+                  start_time: Optional[int] = None,
+                  end_time: Optional[int] = None,
                   **unused_kwargs) -> "PoseBody":
         """
         Reads pose data for version 0.2 from a buffer.
@@ -256,6 +256,12 @@ def write(self, version: float, buffer: BinaryIO):
             Buffer to write the pose data to.
         """
         raise NotImplementedError("'write' not implemented on '%s'" % self.__class__)
+    
+    def copy(self)->"PoseBody":
+        return type(self)(fps=self.fps,
+                          data=self.data,
+                          confidence=self.confidence
+                          )
 
     def __getitem__(self, index):
         """
@@ -306,7 +312,7 @@ def torch(self):
         Raises
         ------
         NotImplementedError
-            If toch is not implemented.
+            If torch is not implemented.
         """
         raise NotImplementedError("'torch' not implemented on '%s'" % self.__class__)
 
@@ -474,7 +480,7 @@ def get_points(self, indexes: List[int]) -> __qualname__:
         Returns
         -------
         PoseBody
-            PoseBody instance containing only choosen points.
+            PoseBody instance containing only chosen points.
              
         Raises
         ------
diff --git a/src/python/pose_format/tensorflow/pose_body.py b/src/python/pose_format/tensorflow/pose_body.py
index b804cf8..208674c 100644
--- a/src/python/pose_format/tensorflow/pose_body.py
+++ b/src/python/pose_format/tensorflow/pose_body.py
@@ -152,6 +152,19 @@ def points_perspective(self) -> MaskedTensor:
         """
         return self.data.transpose(perm=POINTS_DIMS)
 
+    def copy(self) -> PoseBody:
+        # Ensure copies are fully detached from the TF computation graph by round-trip through numpy        
+        detached_data = tf.convert_to_tensor(self.data.tensor.numpy())
+        detached_mask = tf.convert_to_tensor(self.data.mask.numpy())  
+        data_copy = MaskedTensor(detached_data, detached_mask)
+        confidence_copy = tf.convert_to_tensor(self.confidence.numpy())
+        
+        return self.__class__(
+            fps=self.fps,
+            data=data_copy,
+            confidence=confidence_copy, 
+        )
+    
     def get_points(self, indexes: List[int]):
         """
         Gets and returns points from pose data based on indexes 
diff --git a/src/python/pose_format/torch/pose_body.py b/src/python/pose_format/torch/pose_body.py
index a062cea..0fd467f 100644
--- a/src/python/pose_format/torch/pose_body.py
+++ b/src/python/pose_format/torch/pose_body.py
@@ -32,6 +32,18 @@ def cuda(self):
         self.data = self.data.cuda()
         self.confidence = self.confidence.cuda()
 
+    def copy(self) -> PoseBody:
+        data_copy = MaskedTensor(tensor=self.data.tensor.detach().clone().to(self.data.tensor.device),
+                                 mask=self.data.mask.detach().clone().to(self.data.mask.device),
+                                 )
+        confidence_copy = self.confidence.detach().clone().to(self.confidence.device)
+
+        return self.__class__(fps=self.fps,
+                             data=data_copy,
+                             confidence=confidence_copy
+                             )
+
+
     def zero_filled(self) -> 'TorchPoseBody':
         """
         Fill invalid values with zeros.
@@ -120,3 +132,6 @@ def flatten(self):
         scalar = torch.ones(len(shape) + shape[-1], device=data.device)
         scalar[0] = 1 / self.fps
         return flat * scalar
+
+
+
diff --git a/src/python/tests/pose_test.py b/src/python/tests/pose_test.py
index 22f7526..8f2fa17 100644
--- a/src/python/tests/pose_test.py
+++ b/src/python/tests/pose_test.py
@@ -1,18 +1,21 @@
 import random
 import string
-from typing import Optional, Tuple
+from typing import Optional, Tuple, cast
 from unittest import TestCase
 
 import numpy as np
 import numpy.ma as ma
 import tensorflow as tf
+import torch
 
 from pose_format.numpy.pose_body import NumPyPoseBody
 from pose_format.pose import Pose
 from pose_format.pose_header import (PoseHeader, PoseHeaderComponent,
                                      PoseHeaderDimensions)
-from pose_format.tensorflow.masked.tensor import MaskedTensor
+from pose_format.tensorflow.masked.tensor import MaskedTensor as TF_MaskedTensor
 from pose_format.tensorflow.pose_body import TensorflowPoseBody
+from pose_format.torch.pose_body import TorchPoseBody
+from pose_format.torch.masked import MaskedTensor as PoseFormatTorchMaskedTensor
 
 
 def _create_pose_header_component(name: str, num_keypoints: int) -> PoseHeaderComponent:
@@ -179,6 +182,77 @@ def _create_random_numpy_data(frames_min: Optional[int] = None,
 
     return tensor, mask, confidence
 
+def _create_random_torch_data(frames_min: Optional[int] = None,
+                              frames_max: Optional[int] = None,
+                              num_frames: Optional[int] = None,
+                              num_keypoints: int = 137,
+                              num_dimensions: int = 2) -> Tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+    """
+    Creates random PyTorch data for testing.
+
+    Parameters
+    ----------
+    frames_min : Optional[int], default=None
+        Minimum number of frames for random generation if `num_frames` is not specified.
+    frames_max : Optional[int], default=None
+        Maximum number of frames for random generation if `num_frames` is not specified.
+    num_frames : Optional[int], default=None
+        Specific number of frames.
+    num_keypoints : int, default=137
+        Number of keypoints in the pose data.
+    num_dimensions : int, default=2
+        Number of dimensions in the pose data.
+
+    Returns
+    -------
+    Tuple[torch.Tensor, torch.Tensor, torch.Tensor]
+        Random tensor data, mask, and confidence values.
+    """
+    if num_frames is None:
+        assert None not in [frames_min, frames_max]
+        num_frames = np.random.randint(frames_min, frames_max + 1)
+    else:
+        assert frames_min is None and frames_max is None
+
+    # Avoid a mean of zero to test certain pose methods
+    tensor = torch.randn((num_frames, 1, num_keypoints, num_dimensions)) + 1.0  # Shape: (Frames, People, Points, Dims)
+
+    confidence = torch.rand((num_frames, 1, num_keypoints), dtype=torch.float32)  # Shape: (Frames, People, Points)
+
+    mask = torch.randint(0, 2, (num_frames, 1, num_keypoints, num_dimensions), dtype=torch.bool)  # Bool mask
+
+    return tensor, mask, confidence
+
+
+def _get_random_pose_object_with_torch_posebody(num_keypoints: int, frames_min: int = 1, frames_max: int = 10) -> Pose:
+    """
+    Generates a random Pose object with PyTorch pose body for testing.
+
+    Parameters
+    ----------
+    num_keypoints : int
+        Number of keypoints in the pose data.
+    frames_min : int, default=1
+        Minimum number of frames for random generation.
+    frames_max : int, default=10
+        Maximum number of frames for random generation.
+
+    Returns
+    -------
+    Pose
+        Randomly generated Pose object.
+    """
+
+    tensor, mask, confidence = _create_random_torch_data(frames_min=frames_min,
+                                                         frames_max=frames_max,
+                                                         num_keypoints=num_keypoints)
+
+    masked_tensor = PoseFormatTorchMaskedTensor(tensor=tensor, mask=mask)
+    body = TorchPoseBody(fps=10, data=masked_tensor, confidence=confidence)
+
+    header = _create_pose_header(width=10, height=7, depth=0, num_components=3, num_keypoints=num_keypoints)
+
+    return Pose(header=header, body=body)
 
 def _get_random_pose_object_with_tf_posebody(num_keypoints: int, frames_min: int = 1, frames_max: int = 10) -> Pose:
     """
@@ -203,7 +277,7 @@ def _get_random_pose_object_with_tf_posebody(num_keypoints: int, frames_min: int
                                                               frames_max=frames_max,
                                                               num_keypoints=num_keypoints)
 
-    masked_tensor = MaskedTensor(tensor=tensor, mask=mask)
+    masked_tensor = TF_MaskedTensor(tensor=tensor, mask=mask)
     body = TensorflowPoseBody(fps=10, data=masked_tensor, confidence=confidence)
 
     header = _create_pose_header(width=10, height=7, depth=0, num_components=3, num_keypoints=num_keypoints)
@@ -255,6 +329,7 @@ def test_pose_object_should_be_callable(self):
         assert callable(Pose)
 
 
+
 class TestPoseTensorflowPoseBody(TestCase):
     """
     Tests for Pose objects containing TensorFlow PoseBody data.
@@ -399,6 +474,39 @@ def create_pose_and_frame_dropout_uniform(example: tf.Tensor) -> tf.Tensor:
             return example
 
         dataset.map(create_pose_and_frame_dropout_uniform)
+    
+
+    def test_pose_tf_posebody_copy_creates_deepcopy(self):
+        pose = _get_random_pose_object_with_tf_posebody(num_keypoints=5)
+        self.assertIsInstance(pose.body, TensorflowPoseBody)
+        self.assertIsInstance(pose.body.data, TF_MaskedTensor)
+
+        pose_copy = pose.copy()
+        self.assertIsInstance(pose_copy.body, TensorflowPoseBody)
+        self.assertIsInstance(pose_copy.body.data, TF_MaskedTensor)
+
+        # Check that pose and pose_copy are not the same object
+        self.assertNotEqual(pose, pose_copy, "Copy of pose should not be 'equal' to original")
+        
+        # Ensure the data tensors are equal but independent
+        self.assertTrue(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should match original")
+
+        # Modify original pose's data and check that copy remains unchanged
+        pose.body.data = TF_MaskedTensor(tf.zeros_like(pose.body.data.tensor), tf.zeros_like(pose.body.data.mask))
+
+        self.assertFalse(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should not match original after original is replaced")
+
+        # Create another copy and ensure it matches the first copy
+        pose = pose_copy.copy()
+        
+        self.assertTrue(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should match original again")
+
+        # Modify the copy and check that the original remains unchanged
+        pose_copy.body.data.tensor = tf.zeros(pose_copy.body.data.tensor.shape)
+
+        self.assertFalse(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should not match original after copy is modified")
+
+
 
 
 class TestPoseNumpyPoseBody(TestCase):
@@ -445,3 +553,65 @@ def test_pose_numpy_posebody_frame_dropout_uniform_eager_mode_num_frames_not_zer
         num_frames = pose_after_dropout.body.data.shape[0]
 
         self.assertNotEqual(num_frames, 0, "Number of frames after dropout can never be 0.")
+
+    def test_pose_numpy_posebody_copy_creates_deepcopy(self):
+
+        pose = _get_random_pose_object_with_numpy_posebody(num_keypoints=5, frames_min=3)
+
+        pose_copy = pose.copy()
+
+        self.assertNotEqual(pose, pose_copy, "Copy of pose should not be 'equal' to original")
+        
+        self.assertTrue(np.array_equal(pose.body.data, pose_copy.body.data), "Copy's data should match original")
+
+        pose.body.data = ma.zeros(pose.body.data.shape)
+
+        self.assertFalse(np.array_equal(pose.body.data, pose_copy.body.data), "Copy's data should not match original after original is replaced")
+
+        pose = pose_copy.copy()
+
+        self.assertTrue(np.array_equal(pose.body.data, pose_copy.body.data), "Copy's data should match original again")
+
+        pose_copy.body.data[:] = 3.14
+
+        self.assertFalse(np.array_equal(pose.body.data, pose_copy.body.data), "Copy's data should not match original after copy is modified")
+
+
+
+        
+class TestPoseTorchPoseBody(TestCase):
+
+    def test_pose_torch_posebody_copy_tensors_detached(self):
+        pose = _get_random_pose_object_with_torch_posebody(num_keypoints=5)
+        pose_copy = pose.copy()
+
+        self.assertFalse(pose.body.data.data.requires_grad, "Copied data should be detached from computation graph")
+        self.assertFalse(pose.body.data.mask.requires_grad, "Copied mask should be detached from computation graph")
+
+    def test_pose_torch_posebody_copy_creates_deepcopy(self):
+        pose = _get_random_pose_object_with_torch_posebody(num_keypoints=5)
+        self.assertIsInstance(pose.body, TorchPoseBody)
+        self.assertIsInstance(pose.body.data, PoseFormatTorchMaskedTensor)
+        
+
+        pose_copy = pose.copy()
+        self.assertIsInstance(pose_copy.body, TorchPoseBody)
+        self.assertIsInstance(pose_copy.body.data, PoseFormatTorchMaskedTensor)
+
+        self.assertNotEqual(pose, pose_copy, "Copy of pose should not be 'equal' to original")        
+        self.assertTrue(pose.body.data.tensor.equal(pose_copy.body.data.tensor), "Copy's data should match original")
+        # self.assertTrue(pose.body.data.mask == pose_copy.body.data.mask, "Copy's mask should match original")
+
+        # pose.body.data = torch.masked.MaskedTensor(data=torch.zeros_like(pose.body.data.tensor), 
+        #                                            mask=torch.ones_like(pose.body.data.mask))
+
+        # self.assertFalse(pose.body.data.data == pose_copy.body.data.data, "Copy's data should not match original after original is replaced")
+        # self.assertFalse(pose.body.data.mask == pose_copy.body.data.mask, "Copy's mask should not match original after original is replaced")
+
+        # pose = pose_copy.copy()
+
+        # self.assertTrue(pose.body.data.data == pose_copy.body.data.data, "Copy's data should match original again")
+
+        # pose_copy.body.data.fill_(3.14)
+
+        # self.assertFalse(pose.body.data.data == pose_copy.body.data.data, "Copy's data should not match original after copy is modified")

From dceb543f882f009a57ec57e0112fa439d9fa0336 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Wed, 29 Jan 2025 12:12:03 -0500
Subject: [PATCH 6/9] Some pylint changes

---
 src/python/pose_format/pose_body.py            | 9 +++++----
 src/python/pose_format/tensorflow/pose_body.py | 9 ++++-----
 src/python/pose_format/torch/pose_body.py      | 2 --
 src/python/tests/pose_test.py                  | 6 +++---
 4 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/src/python/pose_format/pose_body.py b/src/python/pose_format/pose_body.py
index b9e7f84..8349b88 100644
--- a/src/python/pose_format/pose_body.py
+++ b/src/python/pose_format/pose_body.py
@@ -1,8 +1,9 @@
+import math
 from random import sample
 from typing import BinaryIO, List, Tuple, Optional
 
 import numpy as np
-import math
+
 
 from pose_format.pose_header import PoseHeader
 from pose_format.utils.reader import BufferReader, ConstStructs
@@ -60,9 +61,9 @@ def read(cls, header: PoseHeader, reader: BufferReader, **kwargs) -> "PoseBody":
 
         if header.version == 0:
             return cls.read_v0_0(header, reader, **kwargs)
-        elif round(header.version, 3) == 0.1:
+        if round(header.version, 3) == 0.1:
             return cls.read_v0_1(header, reader, **kwargs)
-        elif round(header.version, 3) == 0.2:
+        if round(header.version, 3) == 0.2:
             return cls.read_v0_2(header, reader, **kwargs)
 
         raise NotImplementedError("Unknown version - %f" % header.version)
@@ -176,7 +177,7 @@ def read_v0_1(cls,
         fps, _frames = reader.unpack(ConstStructs.double_ushort)
 
         _people = reader.unpack(ConstStructs.ushort)
-        _points = sum([len(c.points) for c in header.components])
+        _points = sum(len(c.points) for c in header.components)
         _dims = header.num_dims()
 
         # _frames is defined as short, which sometimes is not enough! TODO change to int
diff --git a/src/python/pose_format/tensorflow/pose_body.py b/src/python/pose_format/tensorflow/pose_body.py
index 208674c..5c8691f 100644
--- a/src/python/pose_format/tensorflow/pose_body.py
+++ b/src/python/pose_format/tensorflow/pose_body.py
@@ -153,18 +153,17 @@ def points_perspective(self) -> MaskedTensor:
         return self.data.transpose(perm=POINTS_DIMS)
 
     def copy(self) -> PoseBody:
-        # Ensure copies are fully detached from the TF computation graph by round-trip through numpy        
+        # Ensure copies are fully detached from the TF computation graph by round-trip through numpy
         detached_data = tf.convert_to_tensor(self.data.tensor.numpy())
-        detached_mask = tf.convert_to_tensor(self.data.mask.numpy())  
+        detached_mask = tf.convert_to_tensor(self.data.mask.numpy())
         data_copy = MaskedTensor(detached_data, detached_mask)
         confidence_copy = tf.convert_to_tensor(self.confidence.numpy())
-        
         return self.__class__(
             fps=self.fps,
             data=data_copy,
-            confidence=confidence_copy, 
+            confidence=confidence_copy,
         )
-    
+
     def get_points(self, indexes: List[int]):
         """
         Gets and returns points from pose data based on indexes 
diff --git a/src/python/pose_format/torch/pose_body.py b/src/python/pose_format/torch/pose_body.py
index 0fd467f..f14ffa5 100644
--- a/src/python/pose_format/torch/pose_body.py
+++ b/src/python/pose_format/torch/pose_body.py
@@ -4,8 +4,6 @@
 import torch
 
 from ..pose_body import POINTS_DIMS, PoseBody
-from ..pose_header import PoseHeader
-from ..utils.reader import BufferReader
 from .masked.tensor import MaskedTensor
 
 
diff --git a/src/python/tests/pose_test.py b/src/python/tests/pose_test.py
index 8f2fa17..de6fa31 100644
--- a/src/python/tests/pose_test.py
+++ b/src/python/tests/pose_test.py
@@ -1,10 +1,10 @@
 import random
 import string
-from typing import Optional, Tuple, cast
+from typing import Optional, Tuple
 from unittest import TestCase
 
 import numpy as np
-import numpy.ma as ma
+from numpy import ma
 import tensorflow as tf
 import torch
 
@@ -586,7 +586,7 @@ def test_pose_torch_posebody_copy_tensors_detached(self):
         pose_copy = pose.copy()
 
         self.assertFalse(pose.body.data.data.requires_grad, "Copied data should be detached from computation graph")
-        self.assertFalse(pose.body.data.mask.requires_grad, "Copied mask should be detached from computation graph")
+        self.assertFalse(pose_copy.body.data.mask.requires_grad, "Copied mask should be detached from computation graph")
 
     def test_pose_torch_posebody_copy_creates_deepcopy(self):
         pose = _get_random_pose_object_with_torch_posebody(num_keypoints=5)

From 8d598320c1b910bcc95e71148147c6101d8be4fd Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Fri, 31 Jan 2025 09:26:17 -0500
Subject: [PATCH 7/9] Fix return type annotations, use copy() in zero_filled

---
 src/python/pose_format/numpy/pose_body.py      | 10 +++++-----
 src/python/pose_format/pose_body.py            |  5 ++---
 src/python/pose_format/tensorflow/pose_body.py | 14 +++++++-------
 src/python/pose_format/torch/pose_body.py      | 12 ++++++------
 4 files changed, 20 insertions(+), 21 deletions(-)

diff --git a/src/python/pose_format/numpy/pose_body.py b/src/python/pose_format/numpy/pose_body.py
index ccd0e14..60d60ea 100644
--- a/src/python/pose_format/numpy/pose_body.py
+++ b/src/python/pose_format/numpy/pose_body.py
@@ -128,11 +128,10 @@ def write(self, version: float, buffer: BinaryIO):
         buffer.write(np.array(self.data.data, dtype=np.float32).tobytes())
         buffer.write(np.array(self.confidence, dtype=np.float32).tobytes())
 
-    def copy(self) -> PoseBody:
+    def copy(self) -> 'NumPyPoseBody':
         return type(self)(fps=self.fps,
                           data=self.data.copy(),
-                          confidence=self.confidence.copy()
-                          )
+                          confidence=self.confidence.copy())
 
     @property
     def mask(self):
@@ -187,8 +186,9 @@ def zero_filled(self):
         NumPyPoseBody
             changed pose body data.
         """
-        self.data = ma.array(self.data.filled(0), mask=self.data.mask)
-        return self
+        copy = self.copy()
+        copy.data = ma.array(copy.data.filled(0), mask=copy.data.mask)
+        return copy
 
     def matmul(self, matrix: np.ndarray):
         """
diff --git a/src/python/pose_format/pose_body.py b/src/python/pose_format/pose_body.py
index 8349b88..32d99a7 100644
--- a/src/python/pose_format/pose_body.py
+++ b/src/python/pose_format/pose_body.py
@@ -259,10 +259,9 @@ def write(self, version: float, buffer: BinaryIO):
         raise NotImplementedError("'write' not implemented on '%s'" % self.__class__)
     
     def copy(self)->"PoseBody":
-        return type(self)(fps=self.fps,
+        return self.__class__(fps=self.fps,
                           data=self.data,
-                          confidence=self.confidence
-                          )
+                          confidence=self.confidence)
 
     def __getitem__(self, index):
         """
diff --git a/src/python/pose_format/tensorflow/pose_body.py b/src/python/pose_format/tensorflow/pose_body.py
index 5c8691f..c7bd282 100644
--- a/src/python/pose_format/tensorflow/pose_body.py
+++ b/src/python/pose_format/tensorflow/pose_body.py
@@ -17,7 +17,7 @@ class TensorflowPoseBody(PoseBody):
     """
     Representation of pose body data, optimized for TensorFlow operations.
 
-    * Inherites from PoseBody 
+    * Inherits from PoseBody 
 
     Parameters
     ----------
@@ -43,10 +43,11 @@ def __init__(self, fps: float, data: Union[MaskedTensor, tf.Tensor], confidence:
 
         super().__init__(fps, data, confidence)
 
-    def zero_filled(self):
+    def zero_filled(self) -> 'TensorflowPoseBody':
         """Return an instance with zero-filled data."""
-        self.data = self.data.zero_filled()
-        return self
+        copy = self.copy()
+        copy.data = self.data.zero_filled()
+        return copy
 
     def select_frames(self, frame_indexes: List[int]):
         """
@@ -152,7 +153,7 @@ def points_perspective(self) -> MaskedTensor:
         """
         return self.data.transpose(perm=POINTS_DIMS)
 
-    def copy(self) -> PoseBody:
+    def copy(self) -> 'TensorflowPoseBody':
         # Ensure copies are fully detached from the TF computation graph by round-trip through numpy
         detached_data = tf.convert_to_tensor(self.data.tensor.numpy())
         detached_mask = tf.convert_to_tensor(self.data.mask.numpy())
@@ -161,8 +162,7 @@ def copy(self) -> PoseBody:
         return self.__class__(
             fps=self.fps,
             data=data_copy,
-            confidence=confidence_copy,
-        )
+            confidence=confidence_copy)
 
     def get_points(self, indexes: List[int]):
         """
diff --git a/src/python/pose_format/torch/pose_body.py b/src/python/pose_format/torch/pose_body.py
index f14ffa5..7038d8f 100644
--- a/src/python/pose_format/torch/pose_body.py
+++ b/src/python/pose_format/torch/pose_body.py
@@ -26,11 +26,11 @@ def __init__(self, fps: float, data: Union[MaskedTensor, torch.Tensor], confiden
         super().__init__(fps, data, confidence)
 
     def cuda(self):
-        """Move data and cofidence of tensors to GPU"""
+        """Move data and confidence of tensors to GPU"""
         self.data = self.data.cuda()
         self.confidence = self.confidence.cuda()
 
-    def copy(self) -> PoseBody:
+    def copy(self) -> 'TorchPoseBody':
         data_copy = MaskedTensor(tensor=self.data.tensor.detach().clone().to(self.data.tensor.device),
                                  mask=self.data.mask.detach().clone().to(self.data.mask.device),
                                  )
@@ -38,8 +38,7 @@ def copy(self) -> PoseBody:
 
         return self.__class__(fps=self.fps,
                              data=data_copy,
-                             confidence=confidence_copy
-                             )
+                             confidence=confidence_copy)
 
 
     def zero_filled(self) -> 'TorchPoseBody':
@@ -52,8 +51,9 @@ def zero_filled(self) -> 'TorchPoseBody':
             TorchPoseBody instance with masked data filled with zeros.
 
         """
-        self.data.zero_filled()
-        return self
+        copy = self.copy()
+        copy.data = copy.data.zero_filled()
+        return copy
 
     def matmul(self, matrix: np.ndarray) -> 'TorchPoseBody':
         """

From e02fbdfdbc9af50c3faad91fe7740936509538f1 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Fri, 31 Jan 2025 09:35:16 -0500
Subject: [PATCH 8/9] uncomment pytests for torchposebody, rename MaskedTensor
 imports

---
 src/python/tests/pose_test.py | 39 +++++++++++++++++++----------------
 1 file changed, 21 insertions(+), 18 deletions(-)

diff --git a/src/python/tests/pose_test.py b/src/python/tests/pose_test.py
index de6fa31..df65551 100644
--- a/src/python/tests/pose_test.py
+++ b/src/python/tests/pose_test.py
@@ -12,10 +12,11 @@
 from pose_format.pose import Pose
 from pose_format.pose_header import (PoseHeader, PoseHeaderComponent,
                                      PoseHeaderDimensions)
-from pose_format.tensorflow.masked.tensor import MaskedTensor as TF_MaskedTensor
+from pose_format.tensorflow.masked.tensor import MaskedTensor as TensorflowMaskedTensor
+from pose_format.torch.masked import MaskedTensor as TorchMaskedTensor
 from pose_format.tensorflow.pose_body import TensorflowPoseBody
 from pose_format.torch.pose_body import TorchPoseBody
-from pose_format.torch.masked import MaskedTensor as PoseFormatTorchMaskedTensor
+
 
 
 def _create_pose_header_component(name: str, num_keypoints: int) -> PoseHeaderComponent:
@@ -247,7 +248,7 @@ def _get_random_pose_object_with_torch_posebody(num_keypoints: int, frames_min:
                                                          frames_max=frames_max,
                                                          num_keypoints=num_keypoints)
 
-    masked_tensor = PoseFormatTorchMaskedTensor(tensor=tensor, mask=mask)
+    masked_tensor = TorchMaskedTensor(tensor=tensor, mask=mask)
     body = TorchPoseBody(fps=10, data=masked_tensor, confidence=confidence)
 
     header = _create_pose_header(width=10, height=7, depth=0, num_components=3, num_keypoints=num_keypoints)
@@ -277,7 +278,7 @@ def _get_random_pose_object_with_tf_posebody(num_keypoints: int, frames_min: int
                                                               frames_max=frames_max,
                                                               num_keypoints=num_keypoints)
 
-    masked_tensor = TF_MaskedTensor(tensor=tensor, mask=mask)
+    masked_tensor = TensorflowMaskedTensor(tensor=tensor, mask=mask)
     body = TensorflowPoseBody(fps=10, data=masked_tensor, confidence=confidence)
 
     header = _create_pose_header(width=10, height=7, depth=0, num_components=3, num_keypoints=num_keypoints)
@@ -479,11 +480,11 @@ def create_pose_and_frame_dropout_uniform(example: tf.Tensor) -> tf.Tensor:
     def test_pose_tf_posebody_copy_creates_deepcopy(self):
         pose = _get_random_pose_object_with_tf_posebody(num_keypoints=5)
         self.assertIsInstance(pose.body, TensorflowPoseBody)
-        self.assertIsInstance(pose.body.data, TF_MaskedTensor)
+        self.assertIsInstance(pose.body.data, TensorflowMaskedTensor)
 
         pose_copy = pose.copy()
         self.assertIsInstance(pose_copy.body, TensorflowPoseBody)
-        self.assertIsInstance(pose_copy.body.data, TF_MaskedTensor)
+        self.assertIsInstance(pose_copy.body.data, TensorflowMaskedTensor)
 
         # Check that pose and pose_copy are not the same object
         self.assertNotEqual(pose, pose_copy, "Copy of pose should not be 'equal' to original")
@@ -492,7 +493,7 @@ def test_pose_tf_posebody_copy_creates_deepcopy(self):
         self.assertTrue(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should match original")
 
         # Modify original pose's data and check that copy remains unchanged
-        pose.body.data = TF_MaskedTensor(tf.zeros_like(pose.body.data.tensor), tf.zeros_like(pose.body.data.mask))
+        pose.body.data = TensorflowMaskedTensor(tf.zeros_like(pose.body.data.tensor), tf.zeros_like(pose.body.data.mask))
 
         self.assertFalse(tf.reduce_all(pose.body.data == pose_copy.body.data), "Copy's data should not match original after original is replaced")
 
@@ -591,27 +592,29 @@ def test_pose_torch_posebody_copy_tensors_detached(self):
     def test_pose_torch_posebody_copy_creates_deepcopy(self):
         pose = _get_random_pose_object_with_torch_posebody(num_keypoints=5)
         self.assertIsInstance(pose.body, TorchPoseBody)
-        self.assertIsInstance(pose.body.data, PoseFormatTorchMaskedTensor)
+        self.assertIsInstance(pose.body.data, TorchMaskedTensor)
         
 
         pose_copy = pose.copy()
         self.assertIsInstance(pose_copy.body, TorchPoseBody)
-        self.assertIsInstance(pose_copy.body.data, PoseFormatTorchMaskedTensor)
+        self.assertIsInstance(pose_copy.body.data, TorchMaskedTensor)
 
         self.assertNotEqual(pose, pose_copy, "Copy of pose should not be 'equal' to original")        
         self.assertTrue(pose.body.data.tensor.equal(pose_copy.body.data.tensor), "Copy's data should match original")
-        # self.assertTrue(pose.body.data.mask == pose_copy.body.data.mask, "Copy's mask should match original")
+        self.assertTrue(pose.body.data.mask.equal(pose_copy.body.data.mask), "Copy's mask should match original")
+
+        pose.body.data = TorchMaskedTensor(tensor=torch.zeros_like(pose.body.data.tensor), 
+                                                   mask=torch.ones_like(pose.body.data.mask))
 
-        # pose.body.data = torch.masked.MaskedTensor(data=torch.zeros_like(pose.body.data.tensor), 
-        #                                            mask=torch.ones_like(pose.body.data.mask))
 
-        # self.assertFalse(pose.body.data.data == pose_copy.body.data.data, "Copy's data should not match original after original is replaced")
-        # self.assertFalse(pose.body.data.mask == pose_copy.body.data.mask, "Copy's mask should not match original after original is replaced")
+        self.assertFalse(pose.body.data.tensor.equal(pose_copy.body.data.tensor), "Copy's data should not match original after original is replaced")
+        self.assertFalse(pose.body.data.mask.equal(pose_copy.body.data.mask), "Copy's mask should not match original after original is replaced")
 
-        # pose = pose_copy.copy()
+        pose = pose_copy.copy()
 
-        # self.assertTrue(pose.body.data.data == pose_copy.body.data.data, "Copy's data should match original again")
+        self.assertTrue(pose.body.data.tensor.equal(pose_copy.body.data.tensor), "Copy's data should match original again")
+        self.assertTrue(pose.body.data.mask.equal(pose_copy.body.data.mask), "Copy's mask should match original again")
 
-        # pose_copy.body.data.fill_(3.14)
+        pose_copy.body.data.tensor.fill_(3.14)
 
-        # self.assertFalse(pose.body.data.data == pose_copy.body.data.data, "Copy's data should not match original after copy is modified")
+        self.assertFalse(pose.body.data.tensor.equal(pose_copy.body.data.tensor), "Copy's data should not match original after copy is modified")

From e0b3ff78b50f06956da832b0b792fff80d489ea0 Mon Sep 17 00:00:00 2001
From: Colin Leong <122366389+cleong110@users.noreply.github.com>
Date: Mon, 3 Feb 2025 15:35:18 -0500
Subject: [PATCH 9/9] import numpy.ma instead of 'from numpy import ma'

---
 src/python/tests/pose_test.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/python/tests/pose_test.py b/src/python/tests/pose_test.py
index df65551..897a0dc 100644
--- a/src/python/tests/pose_test.py
+++ b/src/python/tests/pose_test.py
@@ -4,7 +4,7 @@
 from unittest import TestCase
 
 import numpy as np
-from numpy import ma
+import numpy.ma as ma
 import tensorflow as tf
 import torch