diff --git a/stretch_deep_perception/rviz/body_landmark_detection.rviz b/stretch_deep_perception/rviz/body_landmark_detection.rviz
index 82cda5f..2b71fa0 100644
--- a/stretch_deep_perception/rviz/body_landmark_detection.rviz
+++ b/stretch_deep_perception/rviz/body_landmark_detection.rviz
@@ -5,7 +5,7 @@ Panels:
     Property Tree Widget:
       Expanded: ~
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 719
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -264,9 +264,7 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -279,7 +277,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Alpha: 0.05000000074505806
+    - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
@@ -294,16 +292,14 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Points
+      Style: Flat Squares
       Topic: /camera/depth/color/points
       Unreliable: false
       Use Fixed Frame: true
@@ -337,33 +333,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.6330795288085938
+      Distance: 3.4386653900146484
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.5651246905326843
-        Y: 0.03958197310566902
-        Z: 0.9671560525894165
+        X: -0.060835592448711395
+        Y: -0.35914942622184753
+        Z: 0.7001328468322754
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2347964197397232
+      Pitch: 0.14979641139507294
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 2.8940157890319824
+      Yaw: 2.519022226333618
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001c900000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000056e0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c90000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005690000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -372,6 +368,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
-  X: 67
+  Width: 1848
+  X: 72
   Y: 27
diff --git a/stretch_deep_perception/rviz/nearest_mouth_detection.rviz b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz
index 2977fe4..adf224f 100644
--- a/stretch_deep_perception/rviz/nearest_mouth_detection.rviz
+++ b/stretch_deep_perception/rviz/nearest_mouth_detection.rviz
@@ -6,7 +6,7 @@ Panels:
       Expanded:
         - /MarkerArray1/Namespaces1
       Splitter Ratio: 0.5
-    Tree Height: 728
+    Tree Height: 719
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -253,8 +253,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: 1.2828482389450073
-        Min Value: 1.061728596687317
+        Max Value: 1.284745216369629
+        Min Value: 0.9954421520233154
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -265,9 +265,7 @@ Visualization Manager:
       Enabled: false
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
@@ -280,7 +278,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Alpha: 0.20000000298023224
+    - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
         Max Value: 10
@@ -295,16 +293,14 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: PointCloud2
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
-      Style: Points
+      Style: Flat Squares
       Topic: /camera/depth/color/points
       Unreliable: false
       Use Fixed Frame: true
@@ -338,33 +334,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.90765380859375
+      Distance: 3.9343113899230957
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.2077728509902954
-        Y: -0.1184672936797142
-        Z: 0.7149072885513306
+        X: 0.08446677774190903
+        Y: -0.18665319681167603
+        Z: 0.6290713548660278
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.31979691982269287
+      Pitch: 0.2997969090938568
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 2.437215566635132
+      Yaw: 2.107215404510498
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000028300000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b40000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002830000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002ed000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004af0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -373,6 +369,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1853
-  X: 67
+  Width: 1848
+  X: 72
   Y: 27