diff --git a/media/RESULTS.md b/media/RESULTS.md
index 02ca0e8..962af93 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -1091,75 +1091,75 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0476801,
-  "demosaicing": 0.00107258,
-  "avg_time_2d": 0.0169037,
-  "avg_time_3d": 0.000441429,
-  "fps": 54.2957
+  "img_loading": 0.0479787,
+  "demosaicing": 0.00105853,
+  "avg_time_2d": 0.0168711,
+  "avg_time_3d": 0.000490739,
+  "fps": 54.2878
 }
 {
   "triangulator_calls": 420,
-  "init_time": 9.63167e-06,
-  "undistort_time": 3.56479e-05,
-  "project_time": 4.58269e-05,
-  "match_time": 2.47299e-05,
-  "pairs_time": 4.47937e-05,
-  "pair_scoring_time": 0.000102304,
-  "grouping_time": 1.5427e-05,
-  "full_time": 8.66486e-05,
-  "merge_time": 1.18494e-05,
-  "post_time": 1.38253e-05,
-  "convert_time": 7.38645e-07,
-  "total_time": 0.000391801
+  "init_time": 1.06278e-05,
+  "undistort_time": 2.61993e-05,
+  "project_time": 5.91157e-05,
+  "match_time": 7.7537e-05,
+  "pairs_time": 4.91138e-05,
+  "pair_scoring_time": 9.39502e-05,
+  "grouping_time": 1.86132e-05,
+  "full_time": 8.07886e-05,
+  "merge_time": 9.90888e-06,
+  "post_time": 1.35556e-05,
+  "convert_time": 7.28681e-07,
+  "total_time": 0.000440487
 }
 {
   "person_nums": {
     "total_frames": 420,
     "total_labels": 1466,
-    "total_preds": 1503,
+    "total_preds": 1502,
     "considered_empty": 0,
     "valid_preds": 1462,
-    "invalid_preds": 41,
+    "invalid_preds": 40,
     "missing": 4,
-    "invalid_fraction": 0.02728,
-    "precision": 0.97272,
+    "invalid_fraction": 0.02663,
+    "precision": 0.97337,
     "recall": 0.99727,
-    "f1": 0.98484,
-    "non_empty": 1503
+    "f1": 0.98518,
+    "non_empty": 1502
   },
   "mpjpe": {
     "count": 1462,
-    "mean": 0.033844,
-    "median": 0.030313,
-    "std": 0.015707,
-    "sem": 0.000411,
+    "mean": 0.032346,
+    "median": 0.029628,
+    "std": 0.014512,
+    "sem": 0.00038,
     "min": 0.010671,
-    "max": 0.133636,
-    "recall-0.025": 0.317872,
-    "recall-0.05": 0.866303,
-    "recall-0.1": 0.991132,
+    "max": 0.136736,
+    "recall-0.025": 0.339018,
+    "recall-0.05": 0.900409,
+    "recall-0.1": 0.99045,
     "recall-0.15": 0.997271,
     "recall-0.25": 0.997271,
     "recall-0.5": 0.997271,
     "num_labels": 1466,
-    "ap-0.025": 0.172492,
-    "ap-0.05": 0.816785,
-    "ap-0.1": 0.975993,
-    "ap-0.15": 0.986826,
-    "ap-0.25": 0.986826,
-    "ap-0.5": 0.986826
+    "ap-0.025": 0.181063,
+    "ap-0.05": 0.865292,
+    "ap-0.1": 0.979068,
+    "ap-0.15": 0.989802,
+    "ap-0.25": 0.989802,
+    "ap-0.5": 0.989802
   },
   "nose": {
     "count": 1461,
-    "mean": 0.015367,
-    "median": 0.011619,
-    "std": 0.017247,
-    "sem": 0.000451,
+    "mean": 0.01573,
+    "median": 0.011646,
+    "std": 0.018004,
+    "sem": 0.000471,
     "min": 0.001311,
     "max": 0.276143,
-    "recall-0.025": 0.905673,
-    "recall-0.05": 0.966507,
-    "recall-0.1": 0.994532,
+    "recall-0.025": 0.899522,
+    "recall-0.05": 0.963773,
+    "recall-0.1": 0.992481,
     "recall-0.15": 0.995899,
     "recall-0.25": 0.996582,
     "recall-0.5": 0.998633,
@@ -1167,14 +1167,14 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
     "count": 1462,
-    "mean": 0.01665,
-    "median": 0.014603,
-    "std": 0.011003,
+    "mean": 0.016823,
+    "median": 0.014758,
+    "std": 0.010996,
     "sem": 0.000288,
     "min": 0.000954,
     "max": 0.103637,
-    "recall-0.025": 0.841064,
-    "recall-0.05": 0.982265,
+    "recall-0.025": 0.8397,
+    "recall-0.05": 0.982947,
     "recall-0.1": 0.996589,
     "recall-0.15": 0.997271,
     "recall-0.25": 0.997271,
@@ -1183,14 +1183,14 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 1461,
-    "mean": 0.016883,
-    "median": 0.014712,
-    "std": 0.011866,
-    "sem": 0.000311,
+    "mean": 0.016777,
+    "median": 0.014699,
+    "std": 0.011399,
+    "sem": 0.000298,
     "min": 0.001164,
     "max": 0.156188,
-    "recall-0.025": 0.83686,
-    "recall-0.05": 0.980205,
+    "recall-0.025": 0.833447,
+    "recall-0.05": 0.983618,
     "recall-0.1": 0.996587,
     "recall-0.15": 0.996587,
     "recall-0.25": 0.99727,
@@ -1199,14 +1199,14 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 1461,
-    "mean": 0.022321,
-    "median": 0.016639,
-    "std": 0.019089,
-    "sem": 0.0005,
-    "min": 0.00117,
+    "mean": 0.022172,
+    "median": 0.016399,
+    "std": 0.019077,
+    "sem": 0.000499,
+    "min": 0.000543,
     "max": 0.210066,
-    "recall-0.025": 0.733788,
-    "recall-0.05": 0.915358,
+    "recall-0.025": 0.735154,
+    "recall-0.05": 0.916724,
     "recall-0.1": 0.990444,
     "recall-0.15": 0.996587,
     "recall-0.25": 0.99727,
@@ -1215,15 +1215,15 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_right": {
     "count": 1461,
-    "mean": 0.02069,
-    "median": 0.01607,
-    "std": 0.015618,
-    "sem": 0.000409,
+    "mean": 0.021149,
+    "median": 0.015999,
+    "std": 0.016746,
+    "sem": 0.000438,
     "min": 0.001472,
     "max": 0.162788,
-    "recall-0.025": 0.779904,
-    "recall-0.05": 0.939166,
-    "recall-0.1": 0.996582,
+    "recall-0.025": 0.780588,
+    "recall-0.05": 0.926863,
+    "recall-0.1": 0.995899,
     "recall-0.15": 0.997949,
     "recall-0.25": 0.998633,
     "recall-0.5": 0.998633,
@@ -1231,63 +1231,63 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 1432,
-    "mean": 0.035516,
-    "median": 0.016786,
-    "std": 0.05517,
-    "sem": 0.001458,
+    "mean": 0.035971,
+    "median": 0.016823,
+    "std": 0.055313,
+    "sem": 0.001462,
     "min": 0.000898,
-    "max": 0.460746,
-    "recall-0.025": 0.672245,
-    "recall-0.05": 0.84728,
-    "recall-0.1": 0.906555,
-    "recall-0.15": 0.956764,
-    "recall-0.25": 0.975593,
+    "max": 0.450938,
+    "recall-0.025": 0.67364,
+    "recall-0.05": 0.843794,
+    "recall-0.1": 0.904463,
+    "recall-0.15": 0.953975,
+    "recall-0.25": 0.974895,
     "recall-0.5": 0.998605,
     "num_labels": 1434
   },
   "wrist_right": {
     "count": 1455,
-    "mean": 0.024709,
-    "median": 0.016377,
-    "std": 0.027789,
-    "sem": 0.000729,
+    "mean": 0.026926,
+    "median": 0.016801,
+    "std": 0.033427,
+    "sem": 0.000877,
     "min": 0.001361,
     "max": 0.280646,
-    "recall-0.025": 0.711538,
-    "recall-0.05": 0.901786,
-    "recall-0.1": 0.974588,
-    "recall-0.15": 0.989011,
+    "recall-0.025": 0.690934,
+    "recall-0.05": 0.888736,
+    "recall-0.1": 0.964973,
+    "recall-0.15": 0.980769,
     "recall-0.25": 0.997253,
     "recall-0.5": 0.999313,
     "num_labels": 1456
   },
   "hip_left": {
     "count": 1461,
-    "mean": 0.035145,
-    "median": 0.031973,
-    "std": 0.019347,
-    "sem": 0.000506,
+    "mean": 0.034771,
+    "median": 0.031898,
+    "std": 0.019216,
+    "sem": 0.000503,
     "min": 0.00101,
     "max": 0.181992,
-    "recall-0.025": 0.326962,
-    "recall-0.05": 0.837543,
-    "recall-0.1": 0.990444,
-    "recall-0.15": 0.996587,
+    "recall-0.025": 0.32628,
+    "recall-0.05": 0.845051,
+    "recall-0.1": 0.989761,
+    "recall-0.15": 0.995904,
     "recall-0.25": 0.99727,
     "recall-0.5": 0.99727,
     "num_labels": 1465
   },
   "hip_right": {
     "count": 1462,
-    "mean": 0.037983,
-    "median": 0.032385,
-    "std": 0.025351,
-    "sem": 0.000663,
+    "mean": 0.037383,
+    "median": 0.032592,
+    "std": 0.024222,
+    "sem": 0.000634,
     "min": 0.002509,
     "max": 0.281736,
-    "recall-0.025": 0.31719,
-    "recall-0.05": 0.797408,
-    "recall-0.1": 0.969986,
+    "recall-0.025": 0.318554,
+    "recall-0.05": 0.802183,
+    "recall-0.1": 0.976126,
     "recall-0.15": 0.993861,
     "recall-0.25": 0.995907,
     "recall-0.5": 0.997271,
@@ -1295,82 +1295,82 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 1461,
-    "mean": 0.039577,
-    "median": 0.033011,
-    "std": 0.034872,
-    "sem": 0.000913,
-    "min": 0.004244,
+    "mean": 0.038795,
+    "median": 0.032848,
+    "std": 0.034462,
+    "sem": 0.000902,
+    "min": 0.003309,
     "max": 0.473605,
-    "recall-0.025": 0.283276,
-    "recall-0.05": 0.787031,
-    "recall-0.1": 0.967918,
-    "recall-0.15": 0.985666,
+    "recall-0.025": 0.287372,
+    "recall-0.05": 0.799317,
+    "recall-0.1": 0.978157,
+    "recall-0.15": 0.9843,
     "recall-0.25": 0.990444,
     "recall-0.5": 0.99727,
     "num_labels": 1465
   },
   "knee_right": {
     "count": 1455,
-    "mean": 0.039525,
-    "median": 0.031801,
-    "std": 0.029897,
-    "sem": 0.000784,
+    "mean": 0.038488,
+    "median": 0.031543,
+    "std": 0.026577,
+    "sem": 0.000697,
     "min": 0.003512,
-    "max": 0.278788,
-    "recall-0.025": 0.343386,
-    "recall-0.05": 0.74366,
-    "recall-0.1": 0.959561,
-    "recall-0.15": 0.989034,
-    "recall-0.25": 0.994517,
+    "max": 0.275123,
+    "recall-0.025": 0.349554,
+    "recall-0.05": 0.749829,
+    "recall-0.1": 0.964359,
+    "recall-0.15": 0.993146,
+    "recall-0.25": 0.996573,
     "recall-0.5": 0.997258,
     "num_labels": 1459
   },
   "ankle_left": {
-    "count": 1457,
-    "mean": 0.064506,
-    "median": 0.035906,
-    "std": 0.071268,
-    "sem": 0.001868,
+    "count": 1458,
+    "mean": 0.056122,
+    "median": 0.034021,
+    "std": 0.062141,
+    "sem": 0.001628,
     "min": 0.003035,
-    "max": 0.441184,
-    "recall-0.025": 0.334245,
-    "recall-0.05": 0.625427,
-    "recall-0.1": 0.805878,
-    "recall-0.15": 0.88175,
-    "recall-0.25": 0.958305,
-    "recall-0.5": 0.995899,
+    "max": 0.432301,
+    "recall-0.025": 0.347915,
+    "recall-0.05": 0.666439,
+    "recall-0.1": 0.855776,
+    "recall-0.15": 0.917977,
+    "recall-0.25": 0.971292,
+    "recall-0.5": 0.996582,
     "num_labels": 1463
   },
   "ankle_right": {
     "count": 1445,
-    "mean": 0.065253,
-    "median": 0.032697,
-    "std": 0.084609,
-    "sem": 0.002227,
+    "mean": 0.053755,
+    "median": 0.030905,
+    "std": 0.067212,
+    "sem": 0.001769,
     "min": 0.001698,
-    "max": 0.469631,
-    "recall-0.025": 0.354795,
-    "recall-0.05": 0.680137,
-    "recall-0.1": 0.819178,
-    "recall-0.15": 0.867808,
-    "recall-0.25": 0.932877,
+    "max": 0.489965,
+    "recall-0.025": 0.378082,
+    "recall-0.05": 0.736301,
+    "recall-0.1": 0.856849,
+    "recall-0.15": 0.903425,
+    "recall-0.25": 0.962329,
     "recall-0.5": 0.989726,
     "num_labels": 1460
   },
   "joint_recalls": {
     "num_labels": 18990,
-    "recall-0.025": 0.57177,
-    "recall-0.05": 0.84618,
-    "recall-0.1": 0.95108,
-    "recall-0.15": 0.97235,
-    "recall-0.25": 0.98673,
+    "recall-0.025": 0.57341,
+    "recall-0.05": 0.85408,
+    "recall-0.1": 0.9584,
+    "recall-0.15": 0.9772,
+    "recall-0.25": 0.99005,
     "recall-0.5": 0.99674
   }
 }
 {
   "total_parts": 20444,
-  "correct_parts": 20170,
-  "pcp": 0.986598
+  "correct_parts": 20204,
+  "pcp": 0.988261
 }
 ```
 
diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp
index 49566a2..eaca842 100644
--- a/rpt/triangulator.cpp
+++ b/rpt/triangulator.cpp
@@ -640,7 +640,7 @@ void TriangulatorInternal::undistort_poses(std::vector<cv::Mat> &poses, CameraIn
         points.copyTo(poses[p].colRange(0, 2));
 
         // Mask out points that are far outside the image (points slightly outside are still valid)
-        float mask_offset = (width + height) / 40.0;
+        float mask_offset = (width + height) / 20.0;
         int num_joints = poses[p].rows;
         for (int j = 0; j < num_joints; ++j)
         {
diff --git a/scripts/utils_2d_pose.hpp b/scripts/utils_2d_pose.hpp
index d5978df..aaec0ad 100644
--- a/scripts/utils_2d_pose.hpp
+++ b/scripts/utils_2d_pose.hpp
@@ -867,8 +867,6 @@ namespace utils_2d_pose
         int pad_top = paddings[2];
         int box_left = box[0];
         int box_top = box[1];
-        int img_w = image.cols;
-        int img_h = image.rows;
 
         for (auto &kp : kpts)
         {
@@ -884,10 +882,6 @@ namespace utils_2d_pose
 
             x += box_left;
             y += box_top;
-
-            // Clamp to iamge region
-            x = std::max(0.0f, std::min(x, img_w - 1.0f));
-            y = std::max(0.0f, std::min(y, img_h - 1.0f));
         }
     }
 
@@ -949,6 +943,37 @@ namespace utils_2d_pose
         // Sometimes the detection model predicts multiple boxes with different shapes for the same
         // person. They then result in strongly overlapping poses, which are merged here.
         merge_close_poses(poses, {(size_t)image.cols, (size_t)image.rows});
+
+        // Clip keypoints far outside the image
+        float mask_offset = (image.cols + image.rows) / 10.0;
+        for (size_t i = 0; i < poses.size(); ++i)
+        {
+            for (size_t j = 0; j < poses[i].size(); ++j)
+            {
+                auto &kp = poses[i][j];
+                if (kp[0] < -mask_offset)
+                {
+                    kp[0] = -mask_offset;
+                    kp[2] = 0.001;
+                }
+                if (kp[1] < -mask_offset)
+                {
+                    kp[1] = -mask_offset;
+                    kp[2] = 0.001;
+                }
+                if (kp[0] >= image.cols + mask_offset)
+                {
+                    kp[0] = image.cols + mask_offset;
+                    kp[2] = 0.001;
+                }
+                if (kp[1] >= image.rows + mask_offset)
+                {
+                    kp[1] = image.rows + mask_offset;
+                    kp[2] = 0.001;
+                }
+            }
+        }
+
         return poses;
     }