diff --git a/module2/exo4/autob_coco_test.json b/module2/exo4/autob_coco_test.json
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308, 1, 0, 0, 0], "image_id": 21507016600, "bbox": [344, 4, 607, 429], "category_id": 1, "id": 21507016600}, {"segmentation": [[320, 3, 924, 3, 924, 437, 320, 437]], "num_keypoints": 11, "area": 262136.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 509, 31, 1, 453, 159, 2, 616, 72, 2, 562, 398, 2, 778, 56, 2, 711, 328, 2, 602, 227, 1, 604, 321, 2, 774, 186, 2, 856, 309, 2, 855, 335, 1, 0, 0, 0], "image_id": 21507016900, "bbox": [320, 3, 604, 434], "category_id": 1, "id": 21507016900}, {"segmentation": [[339, 2, 934, 2, 934, 445, 339, 445]], "num_keypoints": 11, "area": 263585.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 473, 23, 1, 442, 181, 2, 612, 74, 2, 558, 370, 2, 797, 74, 2, 711, 327, 2, 603, 235, 1, 610, 328, 2, 768, 197, 2, 847, 309, 2, 845, 316, 1, 0, 0, 0], "image_id": 21507017201, "bbox": [339, 2, 595, 443], "category_id": 1, "id": 21507017201}, {"segmentation": [[324, 0, 910, 0, 910, 437, 324, 437]], "num_keypoints": 11, "area": 256082.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 497, 27, 1, 448, 151, 2, 616, 79, 2, 562, 395, 2, 784, 97, 2, 711, 327, 2, 606, 239, 1, 623, 319, 2, 752, 190, 2, 848, 314, 2, 849, 310, 1, 0, 0, 0], "image_id": 21507017600, "bbox": [324, 0, 586, 437], "category_id": 1, "id": 21507017600}, {"segmentation": [[332, 9, 910, 9, 910, 440, 332, 440]], "num_keypoints": 10, "area": 249118.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 486, 19, 1, 449, 146, 2, 626, 78, 2, 564, 398, 2, 790, 77, 2, 710, 327, 2, 596, 236, 1, 601, 319, 2, 786, 182, 1, 835, 311, 2, 0, 0, 0, 0, 0, 0], "image_id": 21507017900, "bbox": [332, 9, 578, 431], "category_id": 1, "id": 21507017900}, {"segmentation": [[335, 1, 955, 1, 955, 456, 335, 456]], "num_keypoints": 11, "area": 282100.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 480, 29, 1, 449, 166, 2, 624, 78, 2, 561, 387, 2, 786, 72, 2, 710, 328, 2, 590, 234, 1, 597, 324, 2, 786, 223, 2, 840, 317, 2, 919, 311, 1, 0, 0, 0], "image_id": 21507018200, "bbox": [335, 1, 620, 455], "category_id": 1, "id": 21507018200}, {"segmentation": [[349, 0, 920, 0, 920, 440, 349, 440]], "num_keypoints": 11, "area": 251240.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 474, 20, 1, 447, 162, 2, 630, 78, 2, 563, 388, 2, 786, 72, 2, 711, 329, 2, 595, 229, 1, 601, 328, 2, 792, 219, 1, 841, 314, 2, 896, 301, 2, 0, 0, 0], "image_id": 21507018500, "bbox": [349, 0, 571, 440], "category_id": 1, "id": 21507018500}, {"segmentation": [[345, 3, 934, 3, 934, 438, 345, 438]], "num_keypoints": 11, "area": 256215.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 467, 21, 1, 441, 158, 2, 619, 72, 2, 559, 389, 2, 791, 80, 2, 711, 327, 2, 608, 235, 1, 614, 323, 2, 785, 219, 2, 846, 319, 2, 899, 319, 2, 0, 0, 0], "image_id": 21507018800, "bbox": [345, 3, 589, 435], "category_id": 1, "id": 21507018800}, {"segmentation": [[339, 3, 923, 3, 923, 436, 339, 436]], "num_keypoints": 11, "area": 252872.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 488, 24, 1, 441, 153, 2, 628, 77, 2, 560, 391, 2, 786, 82, 2, 711, 328, 2, 606, 239, 1, 614, 321, 2, 779, 212, 1, 857, 316, 2, 898, 321, 2, 0, 0, 0], "image_id": 21507019100, "bbox": [339, 3, 584, 433], "category_id": 1, "id": 21507019100}, {"segmentation": [[335, 2, 924, 2, 924, 437, 335, 437]], "num_keypoints": 11, "area": 256215.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 486, 25, 1, 441, 141, 2, 620, 78, 2, 557, 388, 2, 785, 81, 2, 711, 328, 2, 600, 240, 1, 601, 325, 2, 779, 201, 1, 846, 314, 2, 875, 305, 2, 0, 0, 0], "image_id": 21507019400, "bbox": [335, 2, 589, 435], "category_id": 1, "id": 21507019400}, {"segmentation": [[340, 1, 934, 1, 934, 436, 340, 436]], "num_keypoints": 11, "area": 258390.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 468, 17, 1, 460, 169, 2, 605, 71, 2, 566, 397, 2, 757, 27, 2, 718, 323, 2, 609, 226, 1, 612, 331, 2, 788, 220, 1, 847, 308, 2, 899, 309, 2, 0, 0, 0], "image_id": 21507019700, "bbox": [340, 1, 594, 435], "category_id": 1, "id": 21507019700}, {"segmentation": [[329, 1, 939, 1, 939, 439, 329, 439]], "num_keypoints": 11, "area": 267180.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 469, 28, 1, 457, 164, 2, 595, 91, 2, 568, 397, 2, 765, 47, 2, 716, 324, 2, 593, 237, 1, 604, 323, 2, 786, 231, 2, 854, 316, 2, 912, 317, 2, 0, 0, 0], "image_id": 21507020000, "bbox": [329, 1, 610, 438], "category_id": 1, "id": 21507020000}, {"segmentation": [[355, 3, 932, 3, 932, 425, 355, 425]], "num_keypoints": 10, "area": 243494.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 448, 22, 1, 460, 175, 2, 594, 86, 2, 562, 387, 2, 761, 48, 2, 714, 324, 2, 595, 250, 1, 608, 354, 1, 786, 212, 2, 850, 317, 2, 0, 0, 0, 0, 0, 0], "image_id": 21507020800, "bbox": [355, 3, 577, 422], "category_id": 1, "id": 21507020800}, {"segmentation": [[333, 1, 929, 1, 929, 447, 333, 447]], "num_keypoints": 11, "area": 265816.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 461, 16, 1, 458, 175, 2, 597, 81, 2, 569, 401, 2, 751, 49, 2, 712, 327, 2, 603, 239, 1, 610, 324, 2, 771, 207, 1, 857, 319, 2, 879, 321, 2, 0, 0, 0], "image_id": 21507021100, "bbox": [333, 1, 596, 446], "category_id": 1, "id": 21507021100}, {"segmentation": [[345, 3, 912, 3, 912, 445, 345, 445]], "num_keypoints": 11, "area": 250614.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 477, 19, 1, 447, 141, 2, 607, 72, 2, 569, 401, 2, 760, 47, 2, 712, 324, 2, 605, 229, 1, 605, 310, 2, 772, 203, 1, 857, 319, 2, 881, 317, 1, 0, 0, 0], "image_id": 21507021600, "bbox": [345, 3, 567, 442], "category_id": 1, "id": 21507021600}, {"segmentation": [[340, 0, 952, 0, 952, 443, 340, 443]], "num_keypoints": 11, "area": 271116.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 466, 21, 1, 442, 173, 2, 607, 54, 2, 564, 401, 2, 774, 36, 2, 718, 331, 2, 604, 240, 1, 612, 323, 2, 783, 216, 2, 843, 320, 2, 907, 319, 2, 0, 0, 0], "image_id": 21507023000, "bbox": [340, 0, 612, 443], "category_id": 1, "id": 21507023000}, {"segmentation": [[322, 5, 928, 5, 928, 440, 322, 440]], "num_keypoints": 11, "area": 263610.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 449, 39, 1, 460, 132, 2, 548, 128, 1, 573, 398, 2, 657, 194, 2, 718, 331, 2, 618, 245, 1, 608, 324, 2, 778, 214, 1, 861, 320, 2, 878, 298, 1, 0, 0, 0], "image_id": 21507023400, "bbox": [322, 5, 606, 435], "category_id": 1, "id": 21507023400}, {"segmentation": [[329, 2, 954, 2, 954, 469, 329, 469]], "num_keypoints": 11, "area": 291875.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 466, 25, 1, 476, 152, 2, 565, 131, 1, 536, 415, 2, 669, 211, 2, 764, 383, 2, 603, 249, 1, 599, 328, 2, 780, 222, 1, 841, 316, 2, 888, 301, 2, 0, 0, 0], "image_id": 21507023700, "bbox": [329, 2, 625, 467], "category_id": 1, "id": 21507023700}, {"segmentation": [[318, 1, 935, 1, 935, 442, 318, 442]], "num_keypoints": 11, "area": 272097.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 477, 18, 1, 448, 153, 2, 628, 77, 2, 585, 385, 2, 769, 47, 2, 814, 351, 2, 600, 243, 1, 603, 327, 1, 786, 216, 2, 840, 313, 1, 902, 306, 1, 0, 0, 0], "image_id": 21507024001, "bbox": [318, 1, 617, 441], "category_id": 1, "id": 21507024001}, {"segmentation": [[351, 3, 927, 3, 927, 402, 351, 402]], "num_keypoints": 9, "area": 229824.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 444, 12, 1, 483, 165, 2, 0, 0, 0, 594, 339, 2, 0, 0, 0, 701, 251, 2, 640, 219, 2, 650, 339, 2, 762, 177, 2, 850, 306, 2, 876, 307, 2, 0, 0, 0], "image_id": 21507002400, "bbox": [351, 3, 576, 399], "category_id": 1, "id": 21507002400}, {"segmentation": [[328, 2, 953, 2, 953, 432, 328, 432]], "num_keypoints": 13, "area": 268750.0, "iscrowd": 0, "keypoints": [534, 4, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 405, 4, 2, 455, 34, 1, 443, 166, 2, 574, 99, 2, 602, 364, 2, 705, 87, 2, 831, 343, 2, 604, 236, 1, 612, 329, 1, 777, 211, 1, 839, 322, 1, 889, 303, 1, 0, 0, 0], "image_id": 21507024401, "bbox": [328, 2, 625, 430], "category_id": 1, "id": 21507024401}, {"segmentation": [[324, 0, 956, 0, 956, 429, 324, 429]], "num_keypoints": 11, "area": 271128.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 446, 36, 1, 452, 158, 2, 566, 124, 1, 626, 370, 2, 689, 152, 2, 845, 333, 2, 601, 239, 1, 609, 313, 1, 775, 193, 2, 830, 317, 1, 872, 307, 1, 0, 0, 0], "image_id": 21507024801, "bbox": [324, 0, 632, 429], "category_id": 1, "id": 21507024801}, {"segmentation": [[332, 0, 971, 0, 971, 424, 332, 424]], "num_keypoints": 11, "area": 270936.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 447, 30, 1, 461, 162, 2, 590, 86, 2, 645, 366, 2, 708, 57, 2, 841, 332, 2, 613, 229, 1, 619, 302, 1, 766, 204, 2, 843, 318, 1, 863, 301, 1, 0, 0, 0], "image_id": 21507025100, "bbox": [332, 0, 639, 424], "category_id": 1, "id": 21507025100}, {"segmentation": [[318, 1, 943, 1, 943, 427, 318, 427]], "num_keypoints": 11, "area": 266250.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 500, 33, 1, 449, 156, 2, 635, 47, 2, 636, 390, 2, 793, 16, 2, 837, 336, 2, 602, 230, 1, 613, 311, 1, 783, 220, 2, 835, 308, 1, 883, 302, 1, 0, 0, 0], "image_id": 21507025700, "bbox": [318, 1, 625, 426], "category_id": 1, "id": 21507025700}, {"segmentation": [[339, 0, 954, 0, 954, 432, 339, 432]], "num_keypoints": 12, "area": 265680.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 436, 4, 2, 463, 34, 1, 446, 169, 2, 595, 75, 2, 622, 366, 2, 739, 28, 2, 837, 333, 2, 600, 241, 1, 611, 327, 1, 774, 220, 2, 850, 310, 1, 895, 304, 1, 0, 0, 0], "image_id": 21507026001, "bbox": [339, 0, 615, 432], "category_id": 1, "id": 21507026001}, {"segmentation": [[344, 3, 932, 3, 932, 405, 344, 405]], "num_keypoints": 8, "area": 236376.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 457, 137, 2, 0, 0, 0, 581, 348, 2, 0, 0, 0, 734, 248, 2, 586, 238, 1, 595, 339, 1, 766, 187, 1, 842, 315, 2, 859, 321, 1, 0, 0, 0], "image_id": 21507002700, "bbox": [344, 3, 588, 402], "category_id": 1, "id": 21507002700}, {"segmentation": [[344, 5, 909, 5, 909, 461, 344, 461]], "num_keypoints": 12, "area": 257640.0, "iscrowd": 0, "keypoints": [585, 15, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 451, 35, 1, 455, 152, 2, 532, 140, 1, 510, 420, 2, 626, 190, 2, 645, 340, 2, 581, 249, 1, 582, 340, 1, 759, 192, 1, 857, 318, 2, 867, 323, 1, 0, 0, 0], "image_id": 21507027601, "bbox": [344, 5, 565, 456], "category_id": 1, "id": 21507027601}, {"segmentation": [[336, 2, 932, 2, 932, 398, 336, 398]], "num_keypoints": 12, "area": 236016.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 501, 4, 2, 477, 40, 1, 487, 176, 2, 557, 148, 1, 674, 337, 2, 640, 215, 2, 848, 258, 2, 576, 245, 1, 583, 347, 2, 758, 194, 2, 841, 300, 2, 858, 318, 1, 0, 0, 0], "image_id": 21507028000, "bbox": [336, 2, 596, 396], "category_id": 1, "id": 21507028000}, {"segmentation": [[306, 1, 953, 1, 953, 480, 306, 480]], "num_keypoints": 14, "area": 309913.0, "iscrowd": 0, "keypoints": [607, 78, 2, 0, 0, 0, 590, 56, 2, 0, 0, 0, 472, 11, 2, 499, 41, 1, 454, 172, 2, 567, 150, 1, 411, 433, 2, 637, 215, 2, 648, 403, 2, 590, 238, 1, 603, 331, 2, 760, 192, 1, 848, 292, 2, 850, 312, 1, 0, 0, 0], "image_id": 21507028300, "bbox": [306, 1, 647, 479], "category_id": 1, "id": 21507028300}, {"segmentation": [[367, 3, 876, 3, 876, 463, 367, 463]], "num_keypoints": 13, "area": 234140.0, "iscrowd": 0, "keypoints": [624, 110, 2, 0, 0, 0, 594, 90, 2, 0, 0, 0, 487, 43, 2, 537, 97, 1, 466, 210, 2, 0, 0, 0, 522, 432, 2, 613, 120, 1, 670, 340, 2, 612, 236, 2, 605, 337, 2, 770, 206, 2, 857, 308, 2, 858, 320, 1, 0, 0, 0], "image_id": 21507030001, "bbox": [367, 3, 509, 460], "category_id": 1, "id": 21507030001}, {"segmentation": [[348, 1, 880, 1, 880, 410, 348, 410]], "num_keypoints": 8, "area": 217588.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 453, 16, 1, 464, 155, 2, 0, 0, 0, 574, 368, 2, 0, 0, 0, 719, 272, 2, 618, 232, 1, 627, 342, 1, 765, 185, 2, 852, 320, 2, 0, 0, 0, 0, 0, 0], "image_id": 21507006401, "bbox": [348, 1, 532, 409], "category_id": 1, "id": 21507006401}, {"segmentation": [[342, 2, 917, 2, 917, 406, 342, 406]], "num_keypoints": 9, "area": 232300.0, "iscrowd": 0, "keypoints": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 474, 16, 1, 456, 163, 2, 0, 0, 0, 628, 302, 2, 0, 0, 0, 786, 183, 2, 603, 237, 1, 605, 335, 1, 767, 190, 1, 836, 310, 2, 850, 321, 1, 0, 0, 0], "image_id": 21507009601, "bbox": [342, 2, 575, 404], "category_id": 1, "id": 21507009601}], "categories": [{"supercategory": "person", "skeleton": [[16, 14], [14, 12], [17, 15], [15, 13], [12, 13], [6, 12], [7, 13], [6, 7], [6, 8], [7, 9], [8, 10], [9, 11], [2, 3], [1, 2], [1, 3], [2, 4], [3, 5], [4, 6], [5, 7]], "id": 1, "name": "person", "keypoints": ["nose", "left_eye", "right_eye", "left_ear", "right_ear", "left_shoulder", "right_shoulder", "left_elbow", "right_elbow", "left_wrist", "right_wrist", "left_hip", "right_hip", "left_knee", "right_knee", "left_ankle", "right_ankle"]}]}
\ No newline at end of file
diff --git a/module2/exo4/exercice.ipynb b/module2/exo4/exercice.ipynb
index 0bbbe371b01e359e381e43239412d77bf53fb1fb..9a366687de28a4ee5255e56a87a0c62c20cc0457 100644
--- a/module2/exo4/exercice.ipynb
+++ b/module2/exo4/exercice.ipynb
@@ -1,5 +1,150 @@
 {
- "cells": [],
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Keypoints distance analysis"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Data"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Load and prepare data from json"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 12,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import json\n",
+    "import numpy as np\n",
+    "\n",
+    "with open('autob_coco_test.json') as f:\n",
+    "    js_gt = json.load(f)\n",
+    "    \n",
+    "with open('keypoints_out_SBL_autob_test-repo.json') as f:\n",
+    "    js_dt = json.load(f)\n",
+    "\n",
+    "dt_ids =  np.array([an['image_id'] for an in js_dt])\n",
+    "dt_kps =  np.array([[an[\"keypoints\"][0::3], an[\"keypoints\"][1::3]] for an in js_dt])\n",
+    "dt_kps = dt_kps.swapaxes(1, 2)\n",
+    "\n",
+    "gt_dict = dict([an['image_id'], an['keypoints']] for an in js_gt['annotations'])\n",
+    "gt_kps = np.array([[gt_dict[id][0::3], gt_dict[id][1::3]] for id in dt_ids])\n",
+    "gt_kps = gt_kps.swapaxes(1, 2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Compute distances d2 defined as $d^2(kp) = (x_{dt}(kp) - x_{gt}(kp))^2 +  (y_{dt}(kp) - y_{gt}(kp))^2$"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 19,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "d2 = np.sum((gt_kps - dt_kps)**2, axis=2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Preserve only distance with actual annotation ($x$ or $y$ $>0$)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 30,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "d2_nnz = d2[gt_kps[:,:,0] * gt_kps[:,:,1]> 0]"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Analysis"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Compute stats"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "mean:3666.890575143888, std:11206.164522261512\n",
+      "min:0.000885009765625, median:446.74806213378906, max:280277.30667792447\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(f'mean:{d2_nnz.mean()}, std:{np.std(d2_nnz, ddof=1)}')\n",
+    "print(f'min:{d2_nnz.min()}, median:{np.median(d2_nnz)}, max:{d2_nnz.max()}')"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "Disp histogram"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 38,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "image/png": "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\n",
+      "text/plain": [
+       "<Figure size 432x288 with 1 Axes>"
+      ]
+     },
+     "metadata": {
+      "needs_background": "light"
+     },
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "%matplotlib inline\n",
+    "import matplotlib.pyplot as plt\n",
+    "\n",
+    "plt.hist(d2_nnz, bins=20, histtype='bar', ec='black')\n",
+    "plt.gca().set_yscale(\"log\")\n",
+    "plt.show()"
+   ]
+  }
+ ],
  "metadata": {
   "kernelspec": {
    "display_name": "Python 3",
@@ -16,10 +161,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.6.3"
+   "version": "3.6.4"
   }
  },
  "nbformat": 4,
  "nbformat_minor": 2
 }
-
diff --git a/module2/exo4/keypoints_out_SBL_autob_test-repo.json b/module2/exo4/keypoints_out_SBL_autob_test-repo.json
new file mode 100644
index 0000000000000000000000000000000000000000..35349df18f7357850cc0bd8b47b7aa41a0d4b975
--- /dev/null
+++ b/module2/exo4/keypoints_out_SBL_autob_test-repo.json
@@ -0,0 +1,87254 @@
+[
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