diff --git a/luxonis_train/attached_modules/metrics/__init__.py b/luxonis_train/attached_modules/metrics/__init__.py
index b1dc40ea..cdd0b3ac 100644
--- a/luxonis_train/attached_modules/metrics/__init__.py
+++ b/luxonis_train/attached_modules/metrics/__init__.py
@@ -1,4 +1,5 @@
 from .base_metric import BaseMetric
+from .confusion_matrix import ConfusionMatrix
 from .mean_average_precision import MeanAveragePrecision
 from .mean_average_precision_keypoints import MeanAveragePrecisionKeypoints
 from .object_keypoint_similarity import ObjectKeypointSimilarity
@@ -14,4 +15,5 @@
     "ObjectKeypointSimilarity",
     "Precision",
     "Recall",
+    "ConfusionMatrix",
 ]
diff --git a/luxonis_train/attached_modules/metrics/confusion_matrix.py b/luxonis_train/attached_modules/metrics/confusion_matrix.py
new file mode 100644
index 00000000..079a9315
--- /dev/null
+++ b/luxonis_train/attached_modules/metrics/confusion_matrix.py
@@ -0,0 +1,275 @@
+from typing import Literal
+
+import torch
+from torch import Tensor
+from torchmetrics.classification import MulticlassConfusionMatrix
+from torchvision.ops import box_convert, box_iou
+
+from luxonis_train.enums import TaskType
+from luxonis_train.utils import Labels, Packet
+
+from .base_metric import BaseMetric
+
+
+class ConfusionMatrix(BaseMetric[Tensor, Tensor]):
+    def __init__(
+        self,
+        box_format: Literal["xyxy", "xywh", "cxcywh"] = "xyxy",
+        iou_threshold: float = 0.45,
+        confidence_threshold: float = 0.25,
+        **kwargs,
+    ):
+        """Compute the confusion matrix for classification,
+        segmentation, and object detection tasks.
+
+        @type box_format: Literal["xyxy", "xywh", "cxcywh"]
+        @param box_format: The format of the bounding boxes. Can be one
+            of "xyxy", "xywh", or "cxcywh".
+        @type iou_threshold: float
+        @param iou_threshold: The IoU threshold for matching predictions
+            to ground truth.
+        @type confidence_threshold: float
+        @param confidence_threshold: The confidence threshold for
+            filtering predictions.
+        """
+        super().__init__(**kwargs)
+        allowed_box_formats = ("xyxy", "xywh", "cxcywh")
+        if box_format not in allowed_box_formats:
+            raise ValueError(
+                f"Expected argument `box_format` to be one of {allowed_box_formats} but got {box_format}"
+            )
+        self.box_format = box_format
+        self.iou_threshold = iou_threshold
+        self.confidence_threshold = confidence_threshold
+
+        self.is_classification = (
+            self.node.tasks is not None
+            and TaskType.CLASSIFICATION in self.node.tasks
+        )
+        self.is_detection = (
+            self.node.tasks is not None
+            and TaskType.BOUNDINGBOX in self.node.tasks
+        )
+        self.is_segmentation = (
+            self.node.tasks is not None
+            and TaskType.SEGMENTATION in self.node.tasks
+        )
+
+        if (
+            sum(
+                [
+                    self.is_classification,
+                    self.is_detection,
+                    self.is_segmentation,
+                ]
+            )
+            > 1
+        ):
+            raise ValueError(
+                "Multiple tasks detected in self.node.tasks. Only one task is allowed."
+            )
+
+        self.metric_cm = None
+        if self.is_classification or self.is_segmentation:
+            self.metric_cm = MulticlassConfusionMatrix(
+                num_classes=self.n_classes
+            )
+
+        if self.is_detection:
+            self.add_state(
+                "detection_cm",
+                default=torch.zeros(
+                    self.n_classes + 1, self.n_classes + 1, dtype=torch.int64
+                ),  # +1 for background
+                dist_reduce_fx="sum",
+            )
+
+    def prepare(
+        self, inputs: Packet[Tensor], labels: Labels
+    ) -> tuple[dict[str, Tensor], dict[str, Tensor]]:
+        """Prepare data for classification, segmentation, and detection
+        tasks.
+
+        @type inputs: Packet[Tensor]
+        @param inputs: The inputs to the model.
+        @type labels: Labels
+        @param labels: The ground-truth labels.
+        @return: A tuple of two dictionaries: one for predictions and
+            one for targets.
+        """
+        predictions = {}
+        targets = {}
+
+        if self.is_detection:
+            out_bbox = self.get_input_tensors(inputs, TaskType.BOUNDINGBOX)
+            bbox = self.get_label(labels, TaskType.BOUNDINGBOX)
+            bbox = bbox.to(out_bbox[0].device).clone()
+            bbox[..., 2:6] = box_convert(bbox[..., 2:6], "xywh", "xyxy")
+            scale_factors = torch.tensor(
+                [
+                    self.original_in_shape[2],
+                    self.original_in_shape[1],
+                    self.original_in_shape[2],
+                    self.original_in_shape[1],
+                ],
+                device=bbox.device,
+            )
+            bbox[..., 2:6] *= scale_factors
+            predictions["detection"] = out_bbox
+            targets["detection"] = bbox
+
+        if self.is_classification:
+            prediction = self.get_input_tensors(
+                inputs, TaskType.CLASSIFICATION
+            )
+            target = self.get_label(labels, TaskType.CLASSIFICATION).to(
+                prediction[0].device
+            )
+            predictions["classification"] = prediction
+            targets["classification"] = target
+
+        if self.is_segmentation:
+            prediction = self.get_input_tensors(inputs, TaskType.SEGMENTATION)
+            target = self.get_label(labels, TaskType.SEGMENTATION).to(
+                prediction[0].device
+            )
+            predictions["segmentation"] = prediction
+            targets["segmentation"] = target
+
+        return predictions, targets
+
+    def update(
+        self, predictions: dict[str, Tensor], targets: dict[str, Tensor]
+    ) -> None:
+        """Update the confusion matrices for all tasks using prepared
+        data.
+
+        @type predictions: dict[str, Tensor]
+        @param predictions: A dictionary containing predictions for all
+            tasks.
+        @type targets: dict[str, Tensor]
+        @param targets: A dictionary containing targets for all tasks.
+        """
+        if "classification" in predictions and "classification" in targets:
+            preds = predictions["classification"]
+            target = targets["classification"]
+            pred_classes = preds[0].argmax(dim=1)  # [B]
+            target_classes = target.argmax(dim=1)  # [B]
+            if self.metric_cm is not None:
+                self.metric_cm.update(pred_classes, target_classes)
+
+        if "segmentation" in predictions and "segmentation" in targets:
+            preds = predictions["segmentation"]
+            target = targets["segmentation"]
+            pred_masks = preds[0].argmax(dim=1)  # [B, H, W]
+            target_masks = target.argmax(dim=1)  # [B, H, W]
+            if self.metric_cm is not None:
+                self.metric_cm.update(
+                    pred_masks.view(-1), target_masks.view(-1)
+                )
+
+        if "detection" in predictions and "detection" in targets:
+            preds = predictions["detection"]  # type: ignore
+            target = targets["detection"]
+            self.detection_cm += self._compute_detection_confusion_matrix(  # type: ignore
+                preds,  # type: ignore
+                target,  # type: ignore
+            )
+
+    def compute(self) -> dict[str, Tensor]:
+        """Compute confusion matrices for classification, segmentation,
+        and detection tasks."""
+        results = {}
+        if self.metric_cm:
+            task_type = (
+                "classification" if self.is_classification else "segmentation"
+            )
+            results[f"{task_type}_confusion_matrix"] = self.metric_cm.compute()
+            self.metric_cm.reset()
+        if self.is_detection:
+            results["detection_confusion_matrix"] = self.detection_cm
+
+        return results
+
+    def _compute_detection_confusion_matrix(
+        self, preds: list[Tensor], targets: Tensor
+    ) -> Tensor:
+        """Compute a confusion matrix for object detection tasks.
+
+        @type preds: list[Tensor]
+        @param preds: List of predictions for each image. Each tensor
+            has shape [N, 6] where 6 is for [x1, y1, x2, y2, score,
+            class]
+        @type targets: Tensor
+        @param targets: Ground truth boxes and classes. Shape [M, 6]
+            where first column is image index.
+        """
+        cm = torch.zeros(
+            self.n_classes + 1,
+            self.n_classes + 1,
+            dtype=torch.int64,
+            device=preds[0].device,
+        )
+
+        for img_idx, pred in enumerate(preds):
+            img_targets = targets[targets[:, 0] == img_idx]
+
+            if img_targets.shape[0] == 0:
+                for pred_class in pred[:, 5].int():
+                    cm[pred_class, self.n_classes] += 1
+                continue
+
+            if pred.shape[0] == 0:
+                for gt_class in img_targets[:, 1].int():
+                    cm[self.n_classes, gt_class] += 1
+                continue
+
+            pred = pred[pred[:, 4] > self.confidence_threshold]
+            pred_boxes = pred[:, :4]
+            pred_classes = pred[:, 5].int()
+
+            gt_boxes = img_targets[:, 2:]
+            gt_classes = img_targets[:, 1].int()
+
+            iou = box_iou(gt_boxes, pred_boxes)
+            iou_thresholded = iou > self.iou_threshold
+
+            if iou_thresholded.any():
+                iou_max, pred_max_idx = torch.max(iou, dim=1)
+                iou_gt_mask = iou_max > self.iou_threshold
+                gt_match_idx = torch.arange(
+                    len(gt_boxes), device=gt_boxes.device
+                )[iou_gt_mask]
+                pred_match_idx = pred_max_idx[iou_gt_mask]
+
+                for gt_idx, pred_idx in zip(gt_match_idx, pred_match_idx):
+                    gt_class = gt_classes[gt_idx]
+                    pred_class = pred_classes[pred_idx]
+                    cm[pred_class, gt_class] += 1
+
+                unmatched_gt_mask = ~torch.isin(
+                    torch.arange(len(gt_boxes), device=gt_boxes.device),
+                    gt_match_idx,
+                )
+                for gt_idx in torch.arange(
+                    len(gt_boxes), device=gt_boxes.device
+                )[unmatched_gt_mask]:
+                    gt_class = gt_classes[gt_idx]
+                    cm[self.n_classes, gt_class] += 1
+
+                unmatched_pred_mask = ~torch.isin(
+                    torch.arange(len(pred_boxes), device=gt_boxes.device),
+                    pred_match_idx,
+                )
+                for pred_idx in torch.arange(
+                    len(pred_boxes), device=gt_boxes.device
+                )[unmatched_pred_mask]:
+                    pred_class = pred_classes[pred_idx]
+                    cm[pred_class, self.n_classes] += 1
+            else:
+                for gt_class in gt_classes:
+                    cm[self.n_classes, gt_class] += 1
+                for pred_class in pred_classes:
+                    cm[pred_class, self.n_classes] += 1
+
+        return cm
diff --git a/luxonis_train/config/config.py b/luxonis_train/config/config.py
index 941cd649..baf654c3 100644
--- a/luxonis_train/config/config.py
+++ b/luxonis_train/config/config.py
@@ -151,15 +151,24 @@ def check_predefined_model(self) -> Self:
     def check_main_metric(self) -> Self:
         for metric in self.metrics:
             if metric.is_main_metric:
+                if "matrix" in metric.name.lower():
+                    raise ValueError(
+                        f"Main metric cannot contain 'matrix' in its name: `{metric.name}`"
+                    )
                 logger.info(f"Main metric: `{metric.name}`")
                 return self
 
         logger.warning("No main metric specified.")
         if self.metrics:
-            metric = self.metrics[0]
-            metric.is_main_metric = True
-            name = metric.alias or metric.name
-            logger.info(f"Setting '{name}' as main metric.")
+            for metric in self.metrics:
+                if "matrix" not in metric.name.lower():
+                    metric.is_main_metric = True
+                    name = metric.alias or metric.name
+                    logger.info(f"Setting '{name}' as main metric.")
+                    return self
+            raise ValueError(
+                "[Configuration Error] No valid main metric can be set as all metrics contain 'matrix' in their names."
+            )
         else:
             logger.warning(
                 "[Ignore if using predefined model] "
diff --git a/luxonis_train/models/luxonis_lightning.py b/luxonis_train/models/luxonis_lightning.py
index 08d0066f..2cb00e7e 100644
--- a/luxonis_train/models/luxonis_lightning.py
+++ b/luxonis_train/models/luxonis_lightning.py
@@ -810,14 +810,21 @@ def _evaluation_epoch_end(self, mode: Literal["test", "val"]) -> None:
         logger.info("Metrics computed.")
         for node_name, metrics in computed_metrics.items():
             for metric_name, metric_value in metrics.items():
-                metric_results[node_name][metric_name] = (
-                    metric_value.cpu().item()
-                )
-                self.log(
-                    f"{mode}/metric/{node_name}/{metric_name}",
-                    metric_value,
-                    sync_dist=True,
-                )
+                if "matrix" in metric_name.lower():
+                    self.logger.log_matrix(
+                        matrix=metric_value.cpu().numpy(),
+                        name=f"{mode}/metrics/{self.current_epoch}/{metric_name}",
+                        step=self.current_epoch,
+                    )
+                else:
+                    metric_results[node_name][metric_name] = (
+                        metric_value.cpu().item()
+                    )
+                    self.log(
+                        f"{mode}/metric/{node_name}/{metric_name}",
+                        metric_value,
+                        sync_dist=True,
+                    )
 
         if self.cfg.trainer.verbose:
             self._print_results(
diff --git a/requirements-config.txt b/requirements-config.txt
index 0a7b2625..f8498e7d 100644
--- a/requirements-config.txt
+++ b/requirements-config.txt
@@ -1 +1 @@
-luxonis-ml[data,utils]@git+https://github.com/luxonis/luxonis-ml.git@dev
+luxonis-ml[data,utils]@git+https://github.com/luxonis/luxonis-ml.git@main
diff --git a/requirements.txt b/requirements.txt
index 5d0fcb28..5ef87b3a 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,6 @@
 blobconverter>=1.4.2
 lightning>=2.4.0
-luxonis-ml[data,tracker]>=0.5.0
+luxonis-ml[data,tracker]>=0.5.1
 onnx>=1.12.0
 onnxruntime>=1.13.1
 onnxsim>=0.4.10
diff --git a/tests/unittests/test_metrics/test_confusion_matrix.py b/tests/unittests/test_metrics/test_confusion_matrix.py
new file mode 100644
index 00000000..07429d8b
--- /dev/null
+++ b/tests/unittests/test_metrics/test_confusion_matrix.py
@@ -0,0 +1,58 @@
+import torch
+
+from luxonis_train.attached_modules.metrics.confusion_matrix import (
+    ConfusionMatrix,
+)
+from luxonis_train.enums import TaskType
+from luxonis_train.nodes import BaseNode
+
+
+def test_compute_detection_confusion_matrix_specific_case():
+    class DummyNodeDetection(BaseNode):
+        tasks = [TaskType.BOUNDINGBOX]
+
+        def forward(self, _):
+            pass
+
+    metric = ConfusionMatrix(
+        node=DummyNodeDetection(n_classes=3), iou_threshold=0.5
+    )
+
+    preds = [torch.empty((0, 6)) for _ in range(3)]
+    preds.append(
+        torch.tensor(
+            [
+                [10, 20, 30, 50, 0.8, 2],
+                [10, 21, 30, 50, 0.8, 1],
+                [10, 20, 30, 50, 0.8, 1],
+                [51, 61, 71, 78, 0.9, 2],
+            ]
+        )
+    )
+
+    # Targets: ground truth for 4 images
+    targets = torch.tensor(
+        [
+            [3, 1, 10, 20, 30, 50],
+            [0, 1, 10, 20, 30, 40],
+            [1, 2, 50, 60, 70, 80],
+            [2, 2, 10, 60, 70, 80],
+            [3, 2, 50, 60, 70, 80],
+        ]
+    )
+
+    expected_cm = torch.tensor(
+        [
+            [0, 0, 0, 0],
+            [0, 0, 0, 2],
+            [0, 1, 1, 0],
+            [0, 1, 2, 0],
+        ],
+        dtype=torch.int64,
+    )
+
+    computed_cm = metric._compute_detection_confusion_matrix(preds, targets)
+
+    assert torch.equal(
+        computed_cm, expected_cm
+    ), f"Expected {expected_cm}, but got {computed_cm}"