From dae7c33970d4d2f53584d7ea4931b03ccbc47e0d Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Thu, 3 Apr 2025 18:04:34 +0200
Subject: [PATCH 1/8] Updated results.

---
 media/RESULTS.md | 972 +++++++++++++++++++++++------------------------
 1 file changed, 486 insertions(+), 486 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index 5d50642..1a23c56 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -7,26 +7,26 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0209358,
-  "demosaicing": 0.000623902,
-  "avg_time_2d": 0.00826655,
-  "avg_time_3d": 3.62631e-05,
-  "fps": 112.023
+  "img_loading": 0.00946685,
+  "demosaicing": 0.000433632,
+  "avg_time_2d": 0.00564251,
+  "avg_time_3d": 3.16907e-05,
+  "fps": 163.724
 }
 {
   "triangulator_calls": 600,
-  "init_time": 2.52379e-06,
-  "undistort_time": 3.77125e-06,
-  "project_time": 7.14545e-07,
-  "match_time": 1.39503e-06,
-  "pairs_time": 2.26988e-07,
-  "pair_scoring_time": 6.00934e-06,
-  "grouping_time": 9.7774e-07,
-  "full_time": 7.75714e-06,
-  "merge_time": 3.23609e-06,
-  "post_time": 4.76986e-06,
-  "convert_time": 5.90583e-08,
-  "total_time": 3.1677e-05
+  "init_time": 2.2774e-06,
+  "undistort_time": 3.66277e-06,
+  "project_time": 6.4956e-07,
+  "match_time": 1.27751e-06,
+  "pairs_time": 1.83347e-07,
+  "pair_scoring_time": 5.04129e-06,
+  "grouping_time": 9.12377e-07,
+  "full_time": 6.56363e-06,
+  "merge_time": 2.93065e-06,
+  "post_time": 3.79765e-06,
+  "convert_time": 5.13667e-08,
+  "total_time": 2.75941e-05
 }
 {
   "person_nums": {
@@ -45,100 +45,100 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
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-    "median": 0.053051,
-    "std": 0.028242,
-    "sem": 0.001154,
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-    "max": 0.191685,
+    "mean": 0.06036,
+    "median": 0.052956,
+    "std": 0.028032,
+    "sem": 0.001145,
+    "min": 0.037548,
+    "max": 0.192385,
     "recall-0.025": 0.0,
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+    "recall-0.05": 0.333333,
+    "recall-0.1": 0.948333,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600,
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     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
   "nose": {
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+    "mean": 0.107161,
+    "median": 0.095675,
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+    "sem": 0.001636,
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+    "recall-0.25": 0.983333,
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     "num_labels": 600
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   "shoulder_left": {
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@@ -147,146 +147,146 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
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   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8133,
-  "pcp": 0.968214
+  "correct_parts": 8134,
+  "pcp": 0.968333
 }
 ```
 
@@ -294,75 +294,75 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0419149,
-  "demosaicing": 0.000725168,
-  "avg_time_2d": 0.0149013,
-  "avg_time_3d": 0.000116565,
-  "fps": 63.5203
+  "img_loading": 0.0431246,
+  "demosaicing": 0.000535209,
+  "avg_time_2d": 0.0104033,
+  "avg_time_3d": 0.000107023,
+  "fps": 90.5343
 }
 {
   "triangulator_calls": 301,
-  "init_time": 2.85155e-06,
-  "undistort_time": 1.40652e-05,
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-  "post_time": 7.51379e-06,
-  "convert_time": 1.18299e-07,
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+  "init_time": 2.60675e-06,
+  "undistort_time": 1.42386e-05,
+  "project_time": 1.74955e-06,
+  "match_time": 7.80174e-06,
+  "pairs_time": 4.016e-06,
+  "pair_scoring_time": 2.31076e-05,
+  "grouping_time": 4.08468e-06,
+  "full_time": 2.34529e-05,
+  "merge_time": 1.1163e-05,
+  "post_time": 6.22243e-06,
+  "convert_time": 1.01126e-07,
+  "total_time": 9.87993e-05
 }
 {
   "person_nums": {
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     "total_labels": 477,
-    "total_preds": 827,
+    "total_preds": 828,
     "considered_empty": 0,
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+    "ap-0.05": 0.449379,
+    "ap-0.1": 0.750506,
+    "ap-0.15": 0.76101,
+    "ap-0.25": 0.76101,
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+    "mean": 0.053389,
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     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -370,14 +370,14 @@ Results of the model in various experiments on different datasets. \
   },
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+    "mean": 0.041942,
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     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -386,15 +386,15 @@ Results of the model in various experiments on different datasets. \
   },
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     "count": 477,
-    "mean": 0.049604,
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@@ -402,15 +402,15 @@ Results of the model in various experiments on different datasets. \
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@@ -418,63 +418,63 @@ Results of the model in various experiments on different datasets. \
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@@ -482,15 +482,15 @@ Results of the model in various experiments on different datasets. \
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@@ -498,15 +498,15 @@ Results of the model in various experiments on different datasets. \
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@@ -514,14 +514,14 @@ Results of the model in various experiments on different datasets. \
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@@ -530,13 +530,13 @@ Results of the model in various experiments on different datasets. \
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@@ -546,15 +546,15 @@ Results of the model in various experiments on different datasets. \
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@@ -562,18 +562,18 @@ Results of the model in various experiments on different datasets. \
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   "total_parts": 6678,
-  "correct_parts": 6623,
-  "pcp": 0.991764
+  "correct_parts": 6622,
+  "pcp": 0.991614
 }
 ```
 
@@ -581,91 +581,91 @@ Results of the model in various experiments on different datasets. \
 
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@@ -673,15 +673,15 @@ Results of the model in various experiments on different datasets. \
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@@ -689,79 +689,79 @@ Results of the model in various experiments on different datasets. \
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@@ -769,98 +769,98 @@ Results of the model in various experiments on different datasets. \
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+    "min": 0.005283,
+    "max": 0.302623,
+    "recall-0.025": 0.053191,
+    "recall-0.05": 0.359043,
+    "recall-0.1": 0.906915,
+    "recall-0.15": 0.976064,
+    "recall-0.25": 0.989362,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "knee_left": {
     "count": 376,
-    "mean": 0.056242,
-    "median": 0.053888,
-    "std": 0.024131,
-    "sem": 0.001246,
-    "min": 0.006714,
-    "max": 0.175629,
-    "recall-0.025": 0.079787,
-    "recall-0.05": 0.406915,
+    "mean": 0.055998,
+    "median": 0.053819,
+    "std": 0.025189,
+    "sem": 0.001301,
+    "min": 0.006816,
+    "max": 0.178334,
+    "recall-0.025": 0.090426,
+    "recall-0.05": 0.430851,
     "recall-0.1": 0.954787,
-    "recall-0.15": 0.992021,
+    "recall-0.15": 0.989362,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "knee_right": {
     "count": 376,
-    "mean": 0.05384,
-    "median": 0.049666,
-    "std": 0.02724,
-    "sem": 0.001407,
-    "min": 0.011142,
-    "max": 0.228754,
-    "recall-0.025": 0.077128,
-    "recall-0.05": 0.507979,
-    "recall-0.1": 0.957447,
-    "recall-0.15": 0.989362,
+    "mean": 0.053573,
+    "median": 0.049537,
+    "std": 0.02731,
+    "sem": 0.00141,
+    "min": 0.008841,
+    "max": 0.230822,
+    "recall-0.025": 0.087766,
+    "recall-0.05": 0.50266,
+    "recall-0.1": 0.954787,
+    "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "ankle_left": {
     "count": 376,
-    "mean": 0.072192,
-    "median": 0.066742,
-    "std": 0.045509,
-    "sem": 0.00235,
-    "min": 0.010298,
-    "max": 0.401341,
-    "recall-0.025": 0.047872,
-    "recall-0.05": 0.321809,
-    "recall-0.1": 0.867021,
-    "recall-0.15": 0.965426,
-    "recall-0.25": 0.986702,
+    "mean": 0.072656,
+    "median": 0.066373,
+    "std": 0.046322,
+    "sem": 0.002392,
+    "min": 0.009841,
+    "max": 0.390551,
+    "recall-0.025": 0.042553,
+    "recall-0.05": 0.329787,
+    "recall-0.1": 0.861702,
+    "recall-0.15": 0.962766,
+    "recall-0.25": 0.984043,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "ankle_right": {
     "count": 376,
-    "mean": 0.063957,
-    "median": 0.052696,
-    "std": 0.047764,
-    "sem": 0.002467,
-    "min": 0.0034,
-    "max": 0.378972,
-    "recall-0.025": 0.06383,
-    "recall-0.05": 0.428191,
-    "recall-0.1": 0.890957,
-    "recall-0.15": 0.962766,
+    "mean": 0.063864,
+    "median": 0.052121,
+    "std": 0.048194,
+    "sem": 0.002489,
+    "min": 0.007344,
+    "max": 0.373408,
+    "recall-0.025": 0.069149,
+    "recall-0.05": 0.43883,
+    "recall-0.1": 0.896277,
+    "recall-0.15": 0.960106,
     "recall-0.25": 0.986702,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "joint_recalls": {
     "num_labels": 4888,
-    "recall-0.025": 0.03948,
-    "recall-0.05": 0.29869,
-    "recall-0.1": 0.7993,
-    "recall-0.15": 0.93412,
-    "recall-0.25": 0.98773,
+    "recall-0.025": 0.04194,
+    "recall-0.05": 0.30176,
+    "recall-0.1": 0.80135,
+    "recall-0.15": 0.93269,
+    "recall-0.25": 0.98732,
     "recall-0.5": 0.99959
   }
 }
 {
   "total_parts": 5264,
-  "correct_parts": 5000,
-  "pcp": 0.949848
+  "correct_parts": 4995,
+  "pcp": 0.948898
 }
 ```
 

From ff735759f74bd0d2a8c4347f200405f8f9d9efd7 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Thu, 3 Apr 2025 18:51:33 +0200
Subject: [PATCH 2/8] First tracker implementation.

---
 media/RESULTS.md                | 591 ++++++++++++++++----------------
 rpt/tracker.hpp                 | 289 ++++++++++++++++
 scripts/test_skelda_dataset.cpp |  27 +-
 scripts/test_skelda_dataset.py  |   4 +
 4 files changed, 616 insertions(+), 295 deletions(-)
 create mode 100644 rpt/tracker.hpp

diff --git a/media/RESULTS.md b/media/RESULTS.md
index 1a23c56..bbd819b 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -7,26 +7,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.00946685,
-  "demosaicing": 0.000433632,
-  "avg_time_2d": 0.00564251,
-  "avg_time_3d": 3.16907e-05,
-  "fps": 163.724
+  "img_loading": 0.00954196,
+  "demosaicing": 0.000437263,
+  "avg_time_2d": 0.00563337,
+  "avg_time_3d": 3.22195e-05,
+  "time_tracks": 2.56698e-06,
+  "fps": 163.789
 }
 {
   "triangulator_calls": 600,
-  "init_time": 2.2774e-06,
-  "undistort_time": 3.66277e-06,
-  "project_time": 6.4956e-07,
-  "match_time": 1.27751e-06,
-  "pairs_time": 1.83347e-07,
-  "pair_scoring_time": 5.04129e-06,
-  "grouping_time": 9.12377e-07,
-  "full_time": 6.56363e-06,
-  "merge_time": 2.93065e-06,
-  "post_time": 3.79765e-06,
-  "convert_time": 5.13667e-08,
-  "total_time": 2.75941e-05
+  "init_time": 2.34263e-06,
+  "undistort_time": 3.69506e-06,
+  "project_time": 5.953e-07,
+  "match_time": 1.23644e-06,
+  "pairs_time": 1.78917e-07,
+  "pair_scoring_time": 5.10816e-06,
+  "grouping_time": 8.91258e-07,
+  "full_time": 6.67602e-06,
+  "merge_time": 2.95392e-06,
+  "post_time": 3.7758e-06,
+  "convert_time": 5.69e-08,
+  "total_time": 2.7759e-05
 }
 {
   "person_nums": {
@@ -45,23 +46,23 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.06036,
-    "median": 0.052956,
-    "std": 0.028032,
-    "sem": 0.001145,
+    "mean": 0.060543,
+    "median": 0.053007,
+    "std": 0.028089,
+    "sem": 0.001148,
     "min": 0.037548,
     "max": 0.192385,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.333333,
-    "recall-0.1": 0.948333,
+    "recall-0.05": 0.325,
+    "recall-0.1": 0.946667,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.187797,
-    "ap-0.1": 0.910662,
-    "ap-0.15": 0.913398,
+    "ap-0.05": 0.179324,
+    "ap-0.1": 0.907003,
+    "ap-0.15": 0.91147,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
@@ -99,82 +100,82 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 600,
-    "mean": 0.045983,
+    "mean": 0.046158,
     "median": 0.034992,
-    "std": 0.039542,
-    "sem": 0.001616,
+    "std": 0.039877,
+    "sem": 0.001629,
     "min": 0.00206,
     "max": 0.240597,
     "recall-0.025": 0.298333,
     "recall-0.05": 0.753333,
-    "recall-0.1": 0.91,
-    "recall-0.15": 0.946667,
+    "recall-0.1": 0.908333,
+    "recall-0.15": 0.945,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_left": {
     "count": 600,
-    "mean": 0.045328,
-    "median": 0.034177,
-    "std": 0.03755,
-    "sem": 0.001534,
+    "mean": 0.045362,
+    "median": 0.034249,
+    "std": 0.037307,
+    "sem": 0.001524,
     "min": 0.002988,
     "max": 0.194229,
-    "recall-0.025": 0.26,
-    "recall-0.05": 0.763333,
-    "recall-0.1": 0.926667,
-    "recall-0.15": 0.953333,
+    "recall-0.025": 0.258333,
+    "recall-0.05": 0.761667,
+    "recall-0.1": 0.925,
+    "recall-0.15": 0.955,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_right": {
     "count": 600,
-    "mean": 0.044168,
+    "mean": 0.04432,
     "median": 0.03193,
-    "std": 0.03869,
-    "sem": 0.001581,
+    "std": 0.038646,
+    "sem": 0.001579,
     "min": 0.005218,
-    "max": 0.427232,
+    "max": 0.383954,
     "recall-0.025": 0.268333,
     "recall-0.05": 0.783333,
-    "recall-0.1": 0.928333,
-    "recall-0.15": 0.941667,
+    "recall-0.1": 0.926667,
+    "recall-0.15": 0.94,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_left": {
     "count": 600,
-    "mean": 0.039992,
-    "median": 0.022739,
-    "std": 0.044805,
-    "sem": 0.001831,
+    "mean": 0.04031,
+    "median": 0.022792,
+    "std": 0.044965,
+    "sem": 0.001837,
     "min": 0.002345,
     "max": 0.289452,
-    "recall-0.025": 0.553333,
-    "recall-0.05": 0.766667,
-    "recall-0.1": 0.908333,
-    "recall-0.15": 0.928333,
+    "recall-0.025": 0.551667,
+    "recall-0.05": 0.763333,
+    "recall-0.1": 0.906667,
+    "recall-0.15": 0.93,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_right": {
-    "count": 599,
-    "mean": 0.040157,
-    "median": 0.026117,
-    "std": 0.044323,
-    "sem": 0.001812,
+    "count": 600,
+    "mean": 0.041059,
+    "median": 0.026221,
+    "std": 0.04525,
+    "sem": 0.001849,
     "min": 0.003181,
     "max": 0.296936,
-    "recall-0.025": 0.481667,
-    "recall-0.05": 0.806667,
-    "recall-0.1": 0.915,
-    "recall-0.15": 0.925,
-    "recall-0.25": 0.995,
-    "recall-0.5": 0.998333,
+    "recall-0.025": 0.476667,
+    "recall-0.05": 0.801667,
+    "recall-0.1": 0.91,
+    "recall-0.15": 0.921667,
+    "recall-0.25": 0.996667,
+    "recall-0.5": 1.0,
     "num_labels": 600
   },
   "hip_left": {
@@ -211,31 +212,31 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 599,
-    "mean": 0.052251,
+    "mean": 0.05212,
     "median": 0.042367,
-    "std": 0.042631,
-    "sem": 0.001743,
+    "std": 0.039681,
+    "sem": 0.001623,
     "min": 0.014466,
-    "max": 0.482769,
+    "max": 0.303977,
     "recall-0.025": 0.06,
-    "recall-0.05": 0.698333,
-    "recall-0.1": 0.925,
-    "recall-0.15": 0.945,
-    "recall-0.25": 0.995,
+    "recall-0.05": 0.696667,
+    "recall-0.1": 0.921667,
+    "recall-0.15": 0.943333,
+    "recall-0.25": 0.996667,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "knee_right": {
     "count": 600,
-    "mean": 0.045065,
-    "median": 0.034037,
-    "std": 0.037143,
-    "sem": 0.001518,
+    "mean": 0.045269,
+    "median": 0.034108,
+    "std": 0.03723,
+    "sem": 0.001521,
     "min": 0.010961,
     "max": 0.293895,
-    "recall-0.025": 0.106667,
-    "recall-0.05": 0.825,
-    "recall-0.1": 0.931667,
+    "recall-0.025": 0.105,
+    "recall-0.05": 0.821667,
+    "recall-0.1": 0.93,
     "recall-0.15": 0.948333,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
@@ -243,50 +244,50 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 599,
-    "mean": 0.088513,
-    "median": 0.082493,
-    "std": 0.029511,
-    "sem": 0.001207,
+    "mean": 0.089795,
+    "median": 0.082637,
+    "std": 0.03326,
+    "sem": 0.00136,
     "min": 0.048202,
-    "max": 0.271976,
+    "max": 0.351142,
     "recall-0.025": 0.0,
     "recall-0.05": 0.001667,
-    "recall-0.1": 0.88,
-    "recall-0.15": 0.945,
-    "recall-0.25": 0.995,
+    "recall-0.1": 0.871667,
+    "recall-0.15": 0.94,
+    "recall-0.25": 0.991667,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "ankle_right": {
     "count": 600,
-    "mean": 0.077527,
-    "median": 0.06667,
-    "std": 0.038806,
-    "sem": 0.001586,
-    "min": 0.033001,
+    "mean": 0.077779,
+    "median": 0.066732,
+    "std": 0.039218,
+    "sem": 0.001602,
+    "min": 0.018484,
     "max": 0.281311,
-    "recall-0.025": 0.0,
-    "recall-0.05": 0.036667,
-    "recall-0.1": 0.9,
-    "recall-0.15": 0.926667,
+    "recall-0.025": 0.003333,
+    "recall-0.05": 0.041667,
+    "recall-0.1": 0.893333,
+    "recall-0.15": 0.923333,
     "recall-0.25": 0.991667,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "joint_recalls": {
     "num_labels": 7800,
-    "recall-0.025": 0.18962,
-    "recall-0.05": 0.50128,
-    "recall-0.1": 0.87962,
-    "recall-0.15": 0.93526,
+    "recall-0.025": 0.18897,
+    "recall-0.05": 0.50064,
+    "recall-0.1": 0.87718,
+    "recall-0.15": 0.93423,
     "recall-0.25": 0.99603,
-    "recall-0.5": 0.99923
+    "recall-0.5": 0.99949
   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8134,
-  "pcp": 0.968333
+  "correct_parts": 8130,
+  "pcp": 0.967857
 }
 ```
 
@@ -294,70 +295,71 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0431246,
-  "demosaicing": 0.000535209,
-  "avg_time_2d": 0.0104033,
-  "avg_time_3d": 0.000107023,
-  "fps": 90.5343
+  "img_loading": 0.0415743,
+  "demosaicing": 0.000548337,
+  "avg_time_2d": 0.0104442,
+  "avg_time_3d": 0.000102827,
+  "time_tracks": 7.53299e-07,
+  "fps": 90.1218
 }
 {
   "triangulator_calls": 301,
-  "init_time": 2.60675e-06,
-  "undistort_time": 1.42386e-05,
-  "project_time": 1.74955e-06,
-  "match_time": 7.80174e-06,
-  "pairs_time": 4.016e-06,
-  "pair_scoring_time": 2.31076e-05,
-  "grouping_time": 4.08468e-06,
-  "full_time": 2.34529e-05,
-  "merge_time": 1.1163e-05,
-  "post_time": 6.22243e-06,
-  "convert_time": 1.01126e-07,
-  "total_time": 9.87993e-05
+  "init_time": 2.5757e-06,
+  "undistort_time": 1.38599e-05,
+  "project_time": 1.70299e-06,
+  "match_time": 7.42211e-06,
+  "pairs_time": 3.51909e-06,
+  "pair_scoring_time": 2.20828e-05,
+  "grouping_time": 4.00774e-06,
+  "full_time": 2.23789e-05,
+  "merge_time": 1.09032e-05,
+  "post_time": 6.10427e-06,
+  "convert_time": 1.11395e-07,
+  "total_time": 9.49145e-05
 }
 {
   "person_nums": {
     "total_frames": 301,
     "total_labels": 477,
-    "total_preds": 828,
+    "total_preds": 847,
     "considered_empty": 0,
     "valid_preds": 477,
-    "invalid_preds": 351,
+    "invalid_preds": 370,
     "missing": 0,
-    "invalid_fraction": 0.42391,
-    "precision": 0.57609,
+    "invalid_fraction": 0.43684,
+    "precision": 0.56316,
     "recall": 1.0,
-    "f1": 0.73103,
-    "non_empty": 828
+    "f1": 0.72054,
+    "non_empty": 847
   },
   "mpjpe": {
     "count": 477,
-    "mean": 0.047653,
+    "mean": 0.047597,
     "median": 0.042661,
-    "std": 0.015008,
-    "sem": 0.000688,
+    "std": 0.014947,
+    "sem": 0.000685,
     "min": 0.028932,
-    "max": 0.113187,
+    "max": 0.107384,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.719078,
-    "recall-0.1": 0.985325,
+    "recall-0.05": 0.721174,
+    "recall-0.1": 0.987421,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.449379,
-    "ap-0.1": 0.750506,
-    "ap-0.15": 0.76101,
-    "ap-0.25": 0.76101,
-    "ap-0.5": 0.76101
+    "ap-0.05": 0.456736,
+    "ap-0.1": 0.755053,
+    "ap-0.15": 0.764546,
+    "ap-0.25": 0.764546,
+    "ap-0.5": 0.764546
   },
   "head": {
     "count": 477,
-    "mean": 0.053389,
+    "mean": 0.053421,
     "median": 0.049509,
-    "std": 0.025237,
-    "sem": 0.001157,
+    "std": 0.025337,
+    "sem": 0.001161,
     "min": 0.005816,
     "max": 0.182842,
     "recall-0.025": 0.098532,
@@ -402,17 +404,17 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 477,
-    "mean": 0.040654,
+    "mean": 0.040136,
     "median": 0.032194,
-    "std": 0.02881,
-    "sem": 0.001321,
+    "std": 0.026056,
+    "sem": 0.001194,
     "min": 0.003888,
-    "max": 0.309836,
+    "max": 0.146492,
     "recall-0.025": 0.301887,
     "recall-0.05": 0.752621,
-    "recall-0.1": 0.951782,
-    "recall-0.15": 0.997904,
-    "recall-0.25": 0.997904,
+    "recall-0.1": 0.953878,
+    "recall-0.15": 1.0,
+    "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
@@ -434,33 +436,33 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 477,
-    "mean": 0.059565,
+    "mean": 0.059143,
     "median": 0.05442,
-    "std": 0.039643,
-    "sem": 0.001817,
+    "std": 0.038602,
+    "sem": 0.001769,
     "min": 0.001595,
     "max": 0.314599,
     "recall-0.025": 0.155136,
     "recall-0.05": 0.410901,
-    "recall-0.1": 0.909853,
-    "recall-0.15": 0.966457,
-    "recall-0.25": 0.989518,
+    "recall-0.1": 0.91195,
+    "recall-0.15": 0.968553,
+    "recall-0.25": 0.991614,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "wrist_right": {
     "count": 477,
-    "mean": 0.058378,
+    "mean": 0.05783,
     "median": 0.053422,
-    "std": 0.034091,
-    "sem": 0.001563,
+    "std": 0.030837,
+    "sem": 0.001413,
     "min": 0.008434,
-    "max": 0.381589,
+    "max": 0.207547,
     "recall-0.025": 0.109015,
     "recall-0.05": 0.442348,
     "recall-0.1": 0.907757,
-    "recall-0.15": 0.979036,
-    "recall-0.25": 0.997904,
+    "recall-0.15": 0.981132,
+    "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
@@ -514,15 +516,15 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039775,
+    "mean": 0.039912,
     "median": 0.035222,
-    "std": 0.023097,
-    "sem": 0.001059,
+    "std": 0.023393,
+    "sem": 0.001072,
     "min": 0.006395,
     "max": 0.184949,
     "recall-0.025": 0.303983,
     "recall-0.05": 0.727463,
-    "recall-0.1": 0.974843,
+    "recall-0.1": 0.972746,
     "recall-0.15": 0.997904,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -530,10 +532,10 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 477,
-    "mean": 0.036458,
+    "mean": 0.036485,
     "median": 0.028094,
-    "std": 0.03061,
-    "sem": 0.001403,
+    "std": 0.030728,
+    "sem": 0.001408,
     "min": 0.004185,
     "max": 0.222831,
     "recall-0.025": 0.429769,
@@ -546,17 +548,17 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 477,
-    "mean": 0.040799,
+    "mean": 0.041358,
     "median": 0.030877,
-    "std": 0.03753,
-    "sem": 0.00172,
+    "std": 0.040428,
+    "sem": 0.001853,
     "min": 0.002443,
-    "max": 0.287278,
+    "max": 0.355429,
     "recall-0.025": 0.30608,
     "recall-0.05": 0.813417,
     "recall-0.1": 0.928721,
-    "recall-0.15": 0.968553,
-    "recall-0.25": 0.997904,
+    "recall-0.15": 0.966457,
+    "recall-0.25": 0.993711,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
@@ -565,15 +567,15 @@ Results of the model in various experiments on different datasets. \
     "recall-0.025": 0.21351,
     "recall-0.05": 0.62119,
     "recall-0.1": 0.94323,
-    "recall-0.15": 0.98645,
+    "recall-0.15": 0.98662,
     "recall-0.25": 0.99871,
     "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 6678,
-  "correct_parts": 6622,
-  "pcp": 0.991614
+  "correct_parts": 6623,
+  "pcp": 0.991764
 }
 ```
 
@@ -581,75 +583,76 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.00517366,
-  "demosaicing": 0.000109466,
-  "avg_time_2d": 0.00478839,
-  "avg_time_3d": 3.38694e-05,
-  "fps": 202.769
+  "img_loading": 0.00477884,
+  "demosaicing": 0.000105891,
+  "avg_time_2d": 0.00475547,
+  "avg_time_3d": 3.45411e-05,
+  "time_tracks": 8.63962e-07,
+  "fps": 204.216
 }
 {
   "triangulator_calls": 222,
-  "init_time": 2.02099e-06,
-  "undistort_time": 5.6859e-06,
-  "project_time": 8.53198e-07,
-  "match_time": 2.58553e-06,
-  "pairs_time": 4.89811e-07,
-  "pair_scoring_time": 4.32314e-06,
-  "grouping_time": 8.76297e-07,
-  "full_time": 5.37456e-06,
-  "merge_time": 2.54044e-06,
-  "post_time": 4.92114e-06,
-  "convert_time": 7.91441e-08,
-  "total_time": 2.99961e-05
+  "init_time": 1.99938e-06,
+  "undistort_time": 5.71187e-06,
+  "project_time": 8.61266e-07,
+  "match_time": 2.61942e-06,
+  "pairs_time": 4.20405e-07,
+  "pair_scoring_time": 4.35068e-06,
+  "grouping_time": 9.27387e-07,
+  "full_time": 5.49219e-06,
+  "merge_time": 2.62484e-06,
+  "post_time": 5.03611e-06,
+  "convert_time": 9.22072e-08,
+  "total_time": 3.03843e-05
 }
 {
   "person_nums": {
     "total_frames": 222,
     "total_labels": 376,
-    "total_preds": 443,
+    "total_preds": 457,
     "considered_empty": 0,
     "valid_preds": 376,
-    "invalid_preds": 67,
+    "invalid_preds": 81,
     "missing": 0,
-    "invalid_fraction": 0.15124,
-    "precision": 0.84876,
+    "invalid_fraction": 0.17724,
+    "precision": 0.82276,
     "recall": 1.0,
-    "f1": 0.91819,
-    "non_empty": 443
+    "f1": 0.90276,
+    "non_empty": 457
   },
   "mpjpe": {
     "count": 376,
-    "mean": 0.075573,
-    "median": 0.072487,
-    "std": 0.017073,
-    "sem": 0.000882,
+    "mean": 0.075498,
+    "median": 0.073144,
+    "std": 0.014424,
+    "sem": 0.000745,
     "min": 0.040047,
-    "max": 0.237124,
+    "max": 0.12107,
     "recall-0.025": 0.0,
     "recall-0.05": 0.007979,
-    "recall-0.1": 0.922872,
-    "recall-0.15": 0.99734,
+    "recall-0.1": 0.933511,
+    "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376,
     "ap-0.025": 0.0,
-    "ap-0.05": 7.9e-05,
-    "ap-0.1": 0.836487,
-    "ap-0.15": 0.966449,
-    "ap-0.25": 0.968931,
-    "ap-0.5": 0.968931
+    "ap-0.05": 9.4e-05,
+    "ap-0.1": 0.843551,
+    "ap-0.15": 0.959589,
+    "ap-0.25": 0.959589,
+    "ap-0.5": 0.959589
   },
   "head": {
     "count": 376,
-    "mean": 0.063145,
+    "mean": 0.063289,
     "median": 0.062777,
-    "std": 0.025859,
-    "sem": 0.001335,
+    "std": 0.02607,
+    "sem": 0.001346,
     "min": 0.007715,
     "max": 0.197424,
     "recall-0.025": 0.055851,
     "recall-0.05": 0.31117,
-    "recall-0.1": 0.930851,
+    "recall-0.1": 0.928191,
     "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -657,97 +660,97 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
     "count": 376,
-    "mean": 0.067151,
+    "mean": 0.066843,
     "median": 0.064619,
-    "std": 0.029971,
-    "sem": 0.001548,
+    "std": 0.029378,
+    "sem": 0.001517,
     "min": 0.016733,
     "max": 0.205046,
     "recall-0.025": 0.039894,
     "recall-0.05": 0.321809,
-    "recall-0.1": 0.890957,
-    "recall-0.15": 0.981383,
+    "recall-0.1": 0.893617,
+    "recall-0.15": 0.984043,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "shoulder_right": {
     "count": 376,
-    "mean": 0.070444,
+    "mean": 0.069399,
     "median": 0.062402,
-    "std": 0.038664,
-    "sem": 0.001997,
+    "std": 0.031883,
+    "sem": 0.001646,
     "min": 0.017401,
-    "max": 0.495275,
+    "max": 0.198707,
     "recall-0.025": 0.018617,
     "recall-0.05": 0.316489,
     "recall-0.1": 0.837766,
-    "recall-0.15": 0.968085,
-    "recall-0.25": 0.99734,
+    "recall-0.15": 0.970745,
+    "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "elbow_left": {
     "count": 376,
-    "mean": 0.090384,
+    "mean": 0.089682,
     "median": 0.072996,
-    "std": 0.054936,
-    "sem": 0.002837,
+    "std": 0.053299,
+    "sem": 0.002752,
     "min": 0.009937,
-    "max": 0.344095,
+    "max": 0.283516,
     "recall-0.025": 0.029255,
     "recall-0.05": 0.242021,
-    "recall-0.1": 0.648936,
-    "recall-0.15": 0.864362,
-    "recall-0.25": 0.989362,
+    "recall-0.1": 0.651596,
+    "recall-0.15": 0.867021,
+    "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "elbow_right": {
-    "count": 375,
-    "mean": 0.077748,
-    "median": 0.070448,
-    "std": 0.037755,
-    "sem": 0.001952,
+    "count": 376,
+    "mean": 0.077757,
+    "median": 0.070519,
+    "std": 0.037705,
+    "sem": 0.001947,
     "min": 0.004749,
     "max": 0.194529,
     "recall-0.025": 0.042553,
     "recall-0.05": 0.276596,
-    "recall-0.1": 0.723404,
-    "recall-0.15": 0.941489,
-    "recall-0.25": 0.99734,
-    "recall-0.5": 0.99734,
+    "recall-0.1": 0.726064,
+    "recall-0.15": 0.944149,
+    "recall-0.25": 1.0,
+    "recall-0.5": 1.0,
     "num_labels": 376
   },
   "wrist_left": {
     "count": 376,
-    "mean": 0.128727,
-    "median": 0.113244,
-    "std": 0.06993,
-    "sem": 0.003611,
+    "mean": 0.128965,
+    "median": 0.113502,
+    "std": 0.068869,
+    "sem": 0.003556,
     "min": 0.015136,
-    "max": 0.458731,
+    "max": 0.352772,
     "recall-0.025": 0.013298,
     "recall-0.05": 0.079787,
-    "recall-0.1": 0.422872,
-    "recall-0.15": 0.672872,
-    "recall-0.25": 0.917553,
+    "recall-0.1": 0.417553,
+    "recall-0.15": 0.670213,
+    "recall-0.25": 0.920213,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "wrist_right": {
     "count": 376,
-    "mean": 0.104259,
-    "median": 0.09734,
-    "std": 0.050125,
-    "sem": 0.002588,
+    "mean": 0.102037,
+    "median": 0.097009,
+    "std": 0.044155,
+    "sem": 0.00228,
     "min": 0.002425,
-    "max": 0.461713,
+    "max": 0.277303,
     "recall-0.025": 0.005319,
-    "recall-0.05": 0.093085,
-    "recall-0.1": 0.515957,
-    "recall-0.15": 0.853723,
-    "recall-0.25": 0.984043,
+    "recall-0.05": 0.095745,
+    "recall-0.1": 0.521277,
+    "recall-0.15": 0.864362,
+    "recall-0.25": 0.994681,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
@@ -769,17 +772,17 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
     "count": 376,
-    "mean": 0.065474,
+    "mean": 0.065421,
     "median": 0.059695,
-    "std": 0.035357,
-    "sem": 0.001826,
+    "std": 0.034174,
+    "sem": 0.001765,
     "min": 0.005283,
-    "max": 0.302623,
+    "max": 0.259007,
     "recall-0.025": 0.053191,
     "recall-0.05": 0.359043,
-    "recall-0.1": 0.906915,
-    "recall-0.15": 0.976064,
-    "recall-0.25": 0.989362,
+    "recall-0.1": 0.904255,
+    "recall-0.15": 0.973404,
+    "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
@@ -801,15 +804,15 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 376,
-    "mean": 0.053573,
-    "median": 0.049537,
-    "std": 0.02731,
-    "sem": 0.00141,
+    "mean": 0.053806,
+    "median": 0.049906,
+    "std": 0.027608,
+    "sem": 0.001426,
     "min": 0.008841,
     "max": 0.230822,
     "recall-0.025": 0.087766,
-    "recall-0.05": 0.50266,
-    "recall-0.1": 0.954787,
+    "recall-0.05": 0.5,
+    "recall-0.1": 0.952128,
     "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -817,32 +820,32 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 376,
-    "mean": 0.072656,
-    "median": 0.066373,
-    "std": 0.046322,
-    "sem": 0.002392,
+    "mean": 0.074289,
+    "median": 0.066969,
+    "std": 0.045644,
+    "sem": 0.002357,
     "min": 0.009841,
-    "max": 0.390551,
+    "max": 0.378337,
     "recall-0.025": 0.042553,
-    "recall-0.05": 0.329787,
-    "recall-0.1": 0.861702,
-    "recall-0.15": 0.962766,
-    "recall-0.25": 0.984043,
+    "recall-0.05": 0.327128,
+    "recall-0.1": 0.832447,
+    "recall-0.15": 0.944149,
+    "recall-0.25": 0.989362,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "ankle_right": {
     "count": 376,
-    "mean": 0.063864,
-    "median": 0.052121,
-    "std": 0.048194,
-    "sem": 0.002489,
+    "mean": 0.066324,
+    "median": 0.052238,
+    "std": 0.048596,
+    "sem": 0.002509,
     "min": 0.007344,
     "max": 0.373408,
     "recall-0.025": 0.069149,
-    "recall-0.05": 0.43883,
-    "recall-0.1": 0.896277,
-    "recall-0.15": 0.960106,
+    "recall-0.05": 0.430851,
+    "recall-0.1": 0.859043,
+    "recall-0.15": 0.946809,
     "recall-0.25": 0.986702,
     "recall-0.5": 1.0,
     "num_labels": 376
@@ -850,17 +853,17 @@ Results of the model in various experiments on different datasets. \
   "joint_recalls": {
     "num_labels": 4888,
     "recall-0.025": 0.04194,
-    "recall-0.05": 0.30176,
-    "recall-0.1": 0.80135,
-    "recall-0.15": 0.93269,
-    "recall-0.25": 0.98732,
-    "recall-0.5": 0.99959
+    "recall-0.05": 0.30115,
+    "recall-0.1": 0.79705,
+    "recall-0.15": 0.93208,
+    "recall-0.25": 0.98977,
+    "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 5264,
-  "correct_parts": 4995,
-  "pcp": 0.948898
+  "correct_parts": 5005,
+  "pcp": 0.950798
 }
 ```
 
diff --git a/rpt/tracker.hpp b/rpt/tracker.hpp
new file mode 100644
index 0000000..d15937b
--- /dev/null
+++ b/rpt/tracker.hpp
@@ -0,0 +1,289 @@
+#pragma once
+
+#include <array>
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <limits>
+#include <cmath>
+#include <iostream>
+
+// =================================================================================================
+
+struct Track
+{
+    std::vector<std::vector<std::array<float, 4>>> core_poses;
+    std::vector<std::vector<std::array<float, 4>>> full_poses;
+
+    std::vector<double> timestamps;
+    size_t id;
+};
+
+// =================================================================================================
+
+class PoseTracker
+{
+public:
+    PoseTracker(float max_distance);
+
+    std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> track_poses(
+        const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
+        const std::vector<std::string> &joint_names,
+        const double timestamp);
+
+    void reset();
+
+private:
+    float max_distance;
+    size_t history_size = 3;
+    float max_movement_speed = 2.0;
+
+    std::vector<double> timestamps;
+    std::vector<Track> pose_tracks;
+
+    const std::vector<std::string> core_joints = {
+        "shoulder_left",
+        "shoulder_right",
+        "hip_left",
+        "hip_right",
+        "elbow_left",
+        "elbow_right",
+        "knee_left",
+        "knee_right",
+        "wrist_left",
+        "wrist_right",
+        "ankle_left",
+        "ankle_right",
+    };
+
+    int match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d);
+
+    std::vector<std::array<float, 4>> refine_pose(const Track &track);
+};
+
+// =================================================================================================
+// =================================================================================================
+
+PoseTracker::PoseTracker(float max_distance)
+{
+    this->max_distance = max_distance;
+}
+
+// =================================================================================================
+
+void PoseTracker::reset()
+{
+    pose_tracks.clear();
+    timestamps.clear();
+}
+
+// =================================================================================================
+
+std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::track_poses(
+    const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
+    const std::vector<std::string> &joint_names,
+    const double timestamp)
+{
+    // Extract core joints
+    std::vector<size_t> core_joint_idx;
+    for (const auto &joint : core_joints)
+    {
+        auto it = std::find(joint_names.begin(), joint_names.end(), joint);
+        core_joint_idx.push_back(std::distance(joint_names.begin(), it));
+    }
+    std::vector<std::vector<std::array<float, 4>>> core_poses;
+    core_poses.resize(poses_3d.size());
+    for (size_t i = 0; i < poses_3d.size(); ++i)
+    {
+        core_poses[i].resize(core_joint_idx.size());
+        for (size_t j = 0; j < core_joint_idx.size(); ++j)
+        {
+            for (size_t k = 0; k < 4; ++k)
+            {
+                core_poses[i][j][k] = poses_3d[i][core_joint_idx[j]][k];
+            }
+        }
+    }
+
+    // Match core poses to tracks
+    for (size_t i = 0; i < core_poses.size(); ++i)
+    {
+        int track_idx = match_to_track(core_poses[i]);
+        if (track_idx == -1)
+        {
+            // Create a new track
+            Track new_track;
+            new_track.core_poses.push_back(core_poses[i]);
+            new_track.full_poses.push_back(poses_3d[i]);
+            new_track.timestamps.push_back(timestamp);
+            new_track.id = pose_tracks.size();
+            pose_tracks.push_back(new_track);
+        }
+        else
+        {
+            // Update existing track
+            auto &track = pose_tracks[track_idx];
+            track.core_poses.push_back(core_poses[i]);
+            track.full_poses.push_back(poses_3d[i]);
+            track.timestamps.push_back(timestamp);
+        }
+    }
+
+    // Remove old tracks
+    timestamps.push_back(timestamp);
+    if (timestamps.size() > history_size)
+    {
+        timestamps.erase(timestamps.begin());
+    }
+    double max_age = timestamps.front();
+    for (size_t i = 0; i < pose_tracks.size();)
+    {
+        auto &track = pose_tracks[i];
+        double last_timestamp = track.timestamps.back();
+        if (last_timestamp < max_age)
+        {
+            pose_tracks.erase(pose_tracks.begin() + i);
+        }
+        else
+        {
+            ++i;
+        }
+    }
+
+    // Remove old poses from tracks
+    for (auto &track : pose_tracks)
+    {
+        while (track.core_poses.size() > history_size)
+        {
+            track.core_poses.erase(track.core_poses.begin());
+            track.full_poses.erase(track.full_poses.begin());
+            track.timestamps.erase(track.timestamps.begin());
+        }
+    }
+
+    // Refine poses
+    std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> tracked_poses;
+    for (size_t i = 0; i < pose_tracks.size(); ++i)
+    {
+        auto &track = pose_tracks[i];
+        if (track.core_poses.size() > 0)
+        {
+            std::vector<std::array<float, 4>> refined_pose = refine_pose(track);
+            tracked_poses.emplace_back(track.id, refined_pose);
+        }
+    }
+
+    return tracked_poses;
+}
+
+// =================================================================================================
+
+int PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d)
+{
+    int best_track = -1;
+    float best_distance_sq = max_distance * max_distance;
+
+    for (size_t i = 0; i < pose_tracks.size(); ++i)
+    {
+        const auto &track = pose_tracks[i];
+        if (track.core_poses.size() == 0)
+            continue;
+
+        // Calculate distance to the last pose in the track
+        const auto &last_pose = track.core_poses.back();
+        float distance_sq = 0.0;
+        for (size_t j = 0; j < core_pose_3d.size(); ++j)
+        {
+            float dx = core_pose_3d[j][0] - last_pose[j][0];
+            float dy = core_pose_3d[j][1] - last_pose[j][1];
+            float dz = core_pose_3d[j][2] - last_pose[j][2];
+            distance_sq += dx * dx + dy * dy + dz * dz;
+        }
+        distance_sq /= core_pose_3d.size();
+
+        if (distance_sq < best_distance_sq)
+        {
+            best_distance_sq = distance_sq;
+            best_track = static_cast<int>(i);
+        }
+    }
+    return best_track;
+}
+
+// =================================================================================================
+
+std::vector<std::array<float, 4>> PoseTracker::refine_pose(const Track &track)
+{
+    // Restrict maximum movement by physical constraints, by clipping the pose to the maximum
+    // movement distance from one of the track's history poses
+    //
+    // While advanced sensor filtering techniques, like using a Kalman-Filter, might improve the
+    // average accuracy of the pose, they introduce update delays on fast movement changes. For
+    // example, if a person stands still for a while and then suddenly moves, the first few frames
+    // will likely be treated as outliers, since the filter will not be able to adapt fast enough.
+    // This behaviour is not desired in a real-time critical applications, where the pose needs to
+    // be updated to the real physical position of the person as fast as possible. Therefore, only
+    // the movement speed is limited here.
+
+    if (track.core_poses.size() < 2)
+    {
+        return track.full_poses.back();
+    }
+
+    // Calculate maximum possible movement distance from each history pose
+    std::vector<float> max_movement_dists_sq;
+    max_movement_dists_sq.resize(track.core_poses.size() - 1);
+    double last_timestamp = track.timestamps.back();
+    for (size_t i = 0; i < track.core_poses.size() - 1; ++i)
+    {
+        double ts = track.timestamps[i];
+        float max_movement = max_movement_speed * (last_timestamp - ts);
+        max_movement_dists_sq[i] = max_movement * max_movement;
+    }
+
+    // Clip joint if required
+    std::vector<std::array<float, 4>> refined_pose = track.full_poses.back();
+    for (size_t i = 0; i < refined_pose.size(); ++i)
+    {
+        float min_dist_sq = std::numeric_limits<float>::infinity();
+        size_t closest_idx = 0;
+        bool clip = true;
+
+        for (size_t j = 0; j < max_movement_dists_sq.size(); ++j)
+        {
+
+            float dx = refined_pose[i][0] - track.full_poses[j][i][0];
+            float dy = refined_pose[i][1] - track.full_poses[j][i][1];
+            float dz = refined_pose[i][2] - track.full_poses[j][i][2];
+            float dist_sq = dx * dx + dy * dy + dz * dz;
+            if (dist_sq < min_dist_sq)
+            {
+                min_dist_sq = dist_sq;
+                closest_idx = j;
+            }
+            if (dist_sq <= max_movement_dists_sq[j])
+            {
+                clip = false;
+                break;
+            }
+        }
+
+        if (clip)
+        {
+            float dist_sq = min_dist_sq;
+            float scale = max_movement_dists_sq[closest_idx] / dist_sq;
+
+            float dx = refined_pose[i][0] - track.full_poses[closest_idx][i][0];
+            float dy = refined_pose[i][1] - track.full_poses[closest_idx][i][1];
+            float dz = refined_pose[i][2] - track.full_poses[closest_idx][i][2];
+            refined_pose[i][0] = track.full_poses[closest_idx][i][0] + dx * scale;
+            refined_pose[i][1] = track.full_poses[closest_idx][i][1] + dy * scale;
+            refined_pose[i][2] = track.full_poses[closest_idx][i][2] + dz * scale;
+
+            // Set confidence to a low value if the joint is clipped
+            refined_pose[i][3] = 0.1;
+        }
+    }
+
+    return refined_pose;
+}
diff --git a/scripts/test_skelda_dataset.cpp b/scripts/test_skelda_dataset.cpp
index 6760510..7875106 100644
--- a/scripts/test_skelda_dataset.cpp
+++ b/scripts/test_skelda_dataset.cpp
@@ -17,6 +17,7 @@ using json = nlohmann::json;
 
 #include "/RapidPoseTriangulation/rpt/camera.hpp"
 #include "/RapidPoseTriangulation/rpt/interface.hpp"
+#include "/RapidPoseTriangulation/rpt/tracker.hpp"
 #include "/RapidPoseTriangulation/scripts/utils_2d_pose.hpp"
 #include "/RapidPoseTriangulation/scripts/utils_pipeline.hpp"
 
@@ -121,6 +122,7 @@ int main(int argc, char **argv)
     const float min_match_score = config["min_match_score"];
     const size_t min_group_size = config["min_group_size"];
     const int take_interval = config["take_interval"];
+    const float ifps = config["fps"];
 
     // Load 2D model
     bool use_wb = utils_pipeline::use_whole_body(whole_body);
@@ -131,6 +133,9 @@ int main(int argc, char **argv)
     // Load 3D model
     std::unique_ptr<Triangulator> tri_model = std::make_unique<Triangulator>(
         min_match_score, min_group_size);
+    const float max_distance = 0.3 + 2.0 / ifps;
+    std::unique_ptr<PoseTracker> pose_tracker = std::make_unique<PoseTracker>(
+        max_distance);
 
     // Timers
     size_t time_count = dataset.size();
@@ -138,10 +143,12 @@ int main(int argc, char **argv)
     std::vector<double> times_debayer;
     std::vector<double> times_pose2d;
     std::vector<double> times_pose3d;
+    std::vector<double> times_tracks;
     times_image.reserve(time_count);
     times_debayer.reserve(time_count);
     times_pose2d.reserve(time_count);
     times_pose3d.reserve(time_count);
+    times_tracks.reserve(time_count);
     size_t print_steps = (size_t)std::floor((float)time_count / 100.0f);
     print_steps = std::max((size_t)1, print_steps);
 
@@ -214,6 +221,7 @@ int main(int argc, char **argv)
         {
             // Reset last poses if scene changes
             tri_model->reset();
+            pose_tracker->reset();
             old_scene = item["scene"];
         }
 
@@ -241,6 +249,19 @@ int main(int argc, char **argv)
         elapsed = std::chrono::high_resolution_clock::now() - stime;
         times_pose3d.push_back(elapsed.count());
 
+        stime = std::chrono::high_resolution_clock::now();
+        double ts = ((int)item["index"]) / ifps;
+        auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
+        std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
+        for (size_t j = 0; j < pose_tracks.size(); j++)
+        {
+            auto &pose = std::get<1>(pose_tracks[j]);
+            poses_3d_refined.push_back(pose);
+        }
+        poses_3d = poses_3d_refined;
+        elapsed = std::chrono::high_resolution_clock::now() - stime;
+        times_tracks.push_back(elapsed.count());
+
         all_poses_3d.push_back(std::move(poses_3d));
         all_ids.push_back(item["id"].get<std::string>());
         old_id = item["index"];
@@ -254,23 +275,27 @@ int main(int argc, char **argv)
     double time_debayer = 0.0;
     double time_pose2d = 0.0;
     double time_pose3d = 0.0;
+    double time_tracks = 0.0;
     for (size_t i = warmup; i < time_count; i++)
     {
         time_image += times_image[i];
         time_debayer += times_debayer[i];
         time_pose2d += times_pose2d[i];
         time_pose3d += times_pose3d[i];
+        time_tracks += times_tracks[i];
     }
     double avg_time_image = time_image / (time_count - warmup);
     double avg_time_debayer = time_debayer / (time_count - warmup);
     double avg_time_pose2d = time_pose2d / (time_count - warmup);
     double avg_time_pose3d = time_pose3d / (time_count - warmup);
-    double fps = 1.0 / (avg_time_debayer + avg_time_pose2d + avg_time_pose3d);
+    double avg_time_tracks = time_tracks / (time_count - warmup);
+    double fps = 1.0 / (avg_time_debayer + avg_time_pose2d + avg_time_pose3d + avg_time_tracks);
     std::cout << "{\n"
               << "  \"img_loading\": " << avg_time_image << ",\n"
               << "  \"demosaicing\": " << avg_time_debayer << ",\n"
               << "  \"avg_time_2d\": " << avg_time_pose2d << ",\n"
               << "  \"avg_time_3d\": " << avg_time_pose3d << ",\n"
+              << "  \"time_tracks\": " << avg_time_tracks << ",\n"
               << "  \"fps\": " << fps << "\n"
               << "}" << std::endl;
     tri_model->print_stats();
diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py
index e445f8a..24c5b88 100644
--- a/scripts/test_skelda_dataset.py
+++ b/scripts/test_skelda_dataset.py
@@ -55,6 +55,7 @@ datasets = {
     "human36m": {
         "path": "/datasets/human36m/skelda/pose_test.json",
         "take_interval": 5,
+        "fps": 50,
         "min_match_score": 0.95,
         "min_group_size": 1,
         "min_bbox_score": 0.4,
@@ -84,6 +85,7 @@ datasets = {
     },
     "campus": {
         "path": "/datasets/campus/skelda/test.json",
+        "fps": 20,
         "take_interval": 1,
         "min_match_score": 0.92,
         "min_bbox_score": 0.5,
@@ -91,6 +93,7 @@ datasets = {
     "shelf": {
         "path": "/datasets/shelf/skelda/test.json",
         "take_interval": 1,
+        "fps": 20,
         "min_match_score": 0.95,
         "min_group_size": 2,
     },
@@ -346,6 +349,7 @@ def main():
         "batch_poses": batch_poses,
         "whole_body": whole_body,
         "take_interval": datasets[dataset_use]["take_interval"],
+        "fps": datasets[dataset_use]["fps"],
     }
     utils_pipeline.save_json(config, config_path)
 

From 98399cc00e0c49b3ced749e356d10091e074a38e Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Tue, 22 Apr 2025 17:13:30 +0200
Subject: [PATCH 3/8] Small updates.

---
 media/RESULTS.md                | 490 ++++++++++++++++----------------
 rpt/tracker.hpp                 |  14 +-
 scripts/test_skelda_dataset.cpp |  33 ++-
 scripts/test_skelda_dataset.py  |   4 +-
 4 files changed, 277 insertions(+), 264 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index bbd819b..183289f 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -7,27 +7,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.00954196,
-  "demosaicing": 0.000437263,
-  "avg_time_2d": 0.00563337,
-  "avg_time_3d": 3.22195e-05,
-  "time_tracks": 2.56698e-06,
-  "fps": 163.789
+  "img_loading": 0.0096864,
+  "demosaicing": 0.000437641,
+  "avg_time_2d": 0.00566353,
+  "avg_time_3d": 3.24314e-05,
+  "time_tracks": 3.44966e-07,
+  "fps": 163.027
 }
 {
   "triangulator_calls": 600,
-  "init_time": 2.34263e-06,
-  "undistort_time": 3.69506e-06,
-  "project_time": 5.953e-07,
-  "match_time": 1.23644e-06,
-  "pairs_time": 1.78917e-07,
-  "pair_scoring_time": 5.10816e-06,
-  "grouping_time": 8.91258e-07,
-  "full_time": 6.67602e-06,
-  "merge_time": 2.95392e-06,
-  "post_time": 3.7758e-06,
-  "convert_time": 5.69e-08,
-  "total_time": 2.7759e-05
+  "init_time": 2.23792e-06,
+  "undistort_time": 3.78982e-06,
+  "project_time": 6.23085e-07,
+  "match_time": 1.21714e-06,
+  "pairs_time": 1.845e-07,
+  "pair_scoring_time": 5.14351e-06,
+  "grouping_time": 9.24192e-07,
+  "full_time": 6.75532e-06,
+  "merge_time": 3.04371e-06,
+  "post_time": 3.80595e-06,
+  "convert_time": 5.85167e-08,
+  "total_time": 2.80385e-05
 }
 {
   "person_nums": {
@@ -46,23 +46,23 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.060543,
-    "median": 0.053007,
-    "std": 0.028089,
-    "sem": 0.001148,
+    "mean": 0.060397,
+    "median": 0.052935,
+    "std": 0.028061,
+    "sem": 0.001147,
     "min": 0.037548,
     "max": 0.192385,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.325,
-    "recall-0.1": 0.946667,
+    "recall-0.05": 0.333333,
+    "recall-0.1": 0.948333,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.179324,
-    "ap-0.1": 0.907003,
-    "ap-0.15": 0.91147,
+    "ap-0.05": 0.188107,
+    "ap-0.1": 0.910493,
+    "ap-0.15": 0.913236,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
@@ -100,82 +100,82 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 600,
-    "mean": 0.046158,
+    "mean": 0.045983,
     "median": 0.034992,
-    "std": 0.039877,
-    "sem": 0.001629,
+    "std": 0.039542,
+    "sem": 0.001616,
     "min": 0.00206,
     "max": 0.240597,
     "recall-0.025": 0.298333,
     "recall-0.05": 0.753333,
-    "recall-0.1": 0.908333,
-    "recall-0.15": 0.945,
+    "recall-0.1": 0.91,
+    "recall-0.15": 0.946667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_left": {
     "count": 600,
-    "mean": 0.045362,
-    "median": 0.034249,
-    "std": 0.037307,
-    "sem": 0.001524,
+    "mean": 0.045328,
+    "median": 0.034177,
+    "std": 0.03755,
+    "sem": 0.001534,
     "min": 0.002988,
     "max": 0.194229,
-    "recall-0.025": 0.258333,
-    "recall-0.05": 0.761667,
-    "recall-0.1": 0.925,
-    "recall-0.15": 0.955,
+    "recall-0.025": 0.26,
+    "recall-0.05": 0.763333,
+    "recall-0.1": 0.926667,
+    "recall-0.15": 0.953333,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_right": {
     "count": 600,
-    "mean": 0.04432,
+    "mean": 0.044168,
     "median": 0.03193,
-    "std": 0.038646,
-    "sem": 0.001579,
+    "std": 0.03869,
+    "sem": 0.001581,
     "min": 0.005218,
-    "max": 0.383954,
+    "max": 0.427232,
     "recall-0.025": 0.268333,
     "recall-0.05": 0.783333,
-    "recall-0.1": 0.926667,
-    "recall-0.15": 0.94,
+    "recall-0.1": 0.928333,
+    "recall-0.15": 0.941667,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_left": {
     "count": 600,
-    "mean": 0.04031,
-    "median": 0.022792,
-    "std": 0.044965,
-    "sem": 0.001837,
+    "mean": 0.039884,
+    "median": 0.022739,
+    "std": 0.04461,
+    "sem": 0.001823,
     "min": 0.002345,
     "max": 0.289452,
-    "recall-0.025": 0.551667,
-    "recall-0.05": 0.763333,
-    "recall-0.1": 0.906667,
+    "recall-0.025": 0.553333,
+    "recall-0.05": 0.766667,
+    "recall-0.1": 0.91,
     "recall-0.15": 0.93,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_right": {
-    "count": 600,
-    "mean": 0.041059,
-    "median": 0.026221,
-    "std": 0.04525,
-    "sem": 0.001849,
+    "count": 599,
+    "mean": 0.040157,
+    "median": 0.026117,
+    "std": 0.044323,
+    "sem": 0.001812,
     "min": 0.003181,
     "max": 0.296936,
-    "recall-0.025": 0.476667,
-    "recall-0.05": 0.801667,
-    "recall-0.1": 0.91,
-    "recall-0.15": 0.921667,
-    "recall-0.25": 0.996667,
-    "recall-0.5": 1.0,
+    "recall-0.025": 0.481667,
+    "recall-0.05": 0.806667,
+    "recall-0.1": 0.915,
+    "recall-0.15": 0.925,
+    "recall-0.25": 0.995,
+    "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "hip_left": {
@@ -212,31 +212,31 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 599,
-    "mean": 0.05212,
+    "mean": 0.052251,
     "median": 0.042367,
-    "std": 0.039681,
-    "sem": 0.001623,
+    "std": 0.042631,
+    "sem": 0.001743,
     "min": 0.014466,
-    "max": 0.303977,
+    "max": 0.482769,
     "recall-0.025": 0.06,
-    "recall-0.05": 0.696667,
-    "recall-0.1": 0.921667,
-    "recall-0.15": 0.943333,
-    "recall-0.25": 0.996667,
+    "recall-0.05": 0.698333,
+    "recall-0.1": 0.925,
+    "recall-0.15": 0.945,
+    "recall-0.25": 0.995,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "knee_right": {
     "count": 600,
-    "mean": 0.045269,
-    "median": 0.034108,
-    "std": 0.03723,
-    "sem": 0.001521,
+    "mean": 0.045065,
+    "median": 0.034037,
+    "std": 0.037143,
+    "sem": 0.001518,
     "min": 0.010961,
     "max": 0.293895,
-    "recall-0.025": 0.105,
-    "recall-0.05": 0.821667,
-    "recall-0.1": 0.93,
+    "recall-0.025": 0.106667,
+    "recall-0.05": 0.825,
+    "recall-0.1": 0.931667,
     "recall-0.15": 0.948333,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
@@ -244,50 +244,50 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 599,
-    "mean": 0.089795,
-    "median": 0.082637,
-    "std": 0.03326,
-    "sem": 0.00136,
+    "mean": 0.089107,
+    "median": 0.082601,
+    "std": 0.030725,
+    "sem": 0.001256,
     "min": 0.048202,
-    "max": 0.351142,
+    "max": 0.271976,
     "recall-0.025": 0.0,
     "recall-0.05": 0.001667,
-    "recall-0.1": 0.871667,
-    "recall-0.15": 0.94,
-    "recall-0.25": 0.991667,
+    "recall-0.1": 0.876667,
+    "recall-0.15": 0.941667,
+    "recall-0.25": 0.995,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "ankle_right": {
     "count": 600,
-    "mean": 0.077779,
-    "median": 0.066732,
-    "std": 0.039218,
-    "sem": 0.001602,
-    "min": 0.018484,
+    "mean": 0.077527,
+    "median": 0.06667,
+    "std": 0.038806,
+    "sem": 0.001586,
+    "min": 0.033001,
     "max": 0.281311,
-    "recall-0.025": 0.003333,
-    "recall-0.05": 0.041667,
-    "recall-0.1": 0.893333,
-    "recall-0.15": 0.923333,
+    "recall-0.025": 0.0,
+    "recall-0.05": 0.036667,
+    "recall-0.1": 0.9,
+    "recall-0.15": 0.926667,
     "recall-0.25": 0.991667,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "joint_recalls": {
     "num_labels": 7800,
-    "recall-0.025": 0.18897,
-    "recall-0.05": 0.50064,
-    "recall-0.1": 0.87718,
-    "recall-0.15": 0.93423,
+    "recall-0.025": 0.18962,
+    "recall-0.05": 0.50128,
+    "recall-0.1": 0.87962,
+    "recall-0.15": 0.93526,
     "recall-0.25": 0.99603,
-    "recall-0.5": 0.99949
+    "recall-0.5": 0.99923
   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8130,
-  "pcp": 0.967857
+  "correct_parts": 8134,
+  "pcp": 0.968333
 }
 ```
 
@@ -295,27 +295,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0415743,
-  "demosaicing": 0.000548337,
-  "avg_time_2d": 0.0104442,
-  "avg_time_3d": 0.000102827,
-  "time_tracks": 7.53299e-07,
-  "fps": 90.1218
+  "img_loading": 0.041449,
+  "demosaicing": 0.000538481,
+  "avg_time_2d": 0.010343,
+  "avg_time_3d": 0.000104335,
+  "time_tracks": 7.30172e-07,
+  "fps": 91.0205
 }
 {
   "triangulator_calls": 301,
-  "init_time": 2.5757e-06,
-  "undistort_time": 1.38599e-05,
-  "project_time": 1.70299e-06,
-  "match_time": 7.42211e-06,
-  "pairs_time": 3.51909e-06,
-  "pair_scoring_time": 2.20828e-05,
-  "grouping_time": 4.00774e-06,
-  "full_time": 2.23789e-05,
-  "merge_time": 1.09032e-05,
-  "post_time": 6.10427e-06,
-  "convert_time": 1.11395e-07,
-  "total_time": 9.49145e-05
+  "init_time": 2.5243e-06,
+  "undistort_time": 1.40503e-05,
+  "project_time": 1.76531e-06,
+  "match_time": 7.66701e-06,
+  "pairs_time": 3.58301e-06,
+  "pair_scoring_time": 2.2612e-05,
+  "grouping_time": 4.06582e-06,
+  "full_time": 2.25735e-05,
+  "merge_time": 1.10049e-05,
+  "post_time": 6.13977e-06,
+  "convert_time": 1.12691e-07,
+  "total_time": 9.63485e-05
 }
 {
   "person_nums": {
@@ -334,10 +334,10 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 477,
-    "mean": 0.047597,
-    "median": 0.042661,
-    "std": 0.014947,
-    "sem": 0.000685,
+    "mean": 0.047552,
+    "median": 0.042651,
+    "std": 0.014836,
+    "sem": 0.00068,
     "min": 0.028932,
     "max": 0.107384,
     "recall-0.025": 0.0,
@@ -348,18 +348,18 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 477,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.456736,
-    "ap-0.1": 0.755053,
-    "ap-0.15": 0.764546,
-    "ap-0.25": 0.764546,
-    "ap-0.5": 0.764546
+    "ap-0.05": 0.453828,
+    "ap-0.1": 0.752279,
+    "ap-0.15": 0.761672,
+    "ap-0.25": 0.761672,
+    "ap-0.5": 0.761672
   },
   "head": {
     "count": 477,
-    "mean": 0.053421,
+    "mean": 0.053389,
     "median": 0.049509,
-    "std": 0.025337,
-    "sem": 0.001161,
+    "std": 0.025237,
+    "sem": 0.001157,
     "min": 0.005816,
     "max": 0.182842,
     "recall-0.025": 0.098532,
@@ -404,9 +404,9 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 477,
-    "mean": 0.040136,
+    "mean": 0.04012,
     "median": 0.032194,
-    "std": 0.026056,
+    "std": 0.026044,
     "sem": 0.001194,
     "min": 0.003888,
     "max": 0.146492,
@@ -436,14 +436,14 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 477,
-    "mean": 0.059143,
-    "median": 0.05442,
-    "std": 0.038602,
+    "mean": 0.059128,
+    "median": 0.054299,
+    "std": 0.038605,
     "sem": 0.001769,
     "min": 0.001595,
     "max": 0.314599,
     "recall-0.025": 0.155136,
-    "recall-0.05": 0.410901,
+    "recall-0.05": 0.412998,
     "recall-0.1": 0.91195,
     "recall-0.15": 0.968553,
     "recall-0.25": 0.991614,
@@ -452,10 +452,10 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_right": {
     "count": 477,
-    "mean": 0.05783,
+    "mean": 0.057842,
     "median": 0.053422,
-    "std": 0.030837,
-    "sem": 0.001413,
+    "std": 0.030863,
+    "sem": 0.001415,
     "min": 0.008434,
     "max": 0.207547,
     "recall-0.025": 0.109015,
@@ -516,15 +516,15 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039912,
+    "mean": 0.039775,
     "median": 0.035222,
-    "std": 0.023393,
-    "sem": 0.001072,
+    "std": 0.023097,
+    "sem": 0.001059,
     "min": 0.006395,
     "max": 0.184949,
     "recall-0.025": 0.303983,
     "recall-0.05": 0.727463,
-    "recall-0.1": 0.972746,
+    "recall-0.1": 0.974843,
     "recall-0.15": 0.997904,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -532,10 +532,10 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 477,
-    "mean": 0.036485,
+    "mean": 0.036458,
     "median": 0.028094,
-    "std": 0.030728,
-    "sem": 0.001408,
+    "std": 0.03061,
+    "sem": 0.001403,
     "min": 0.004185,
     "max": 0.222831,
     "recall-0.025": 0.429769,
@@ -548,25 +548,25 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 477,
-    "mean": 0.041358,
+    "mean": 0.040999,
     "median": 0.030877,
-    "std": 0.040428,
-    "sem": 0.001853,
+    "std": 0.038354,
+    "sem": 0.001758,
     "min": 0.002443,
-    "max": 0.355429,
+    "max": 0.287278,
     "recall-0.025": 0.30608,
     "recall-0.05": 0.813417,
     "recall-0.1": 0.928721,
     "recall-0.15": 0.966457,
-    "recall-0.25": 0.993711,
+    "recall-0.25": 0.995807,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "joint_recalls": {
     "num_labels": 6201,
     "recall-0.025": 0.21351,
-    "recall-0.05": 0.62119,
-    "recall-0.1": 0.94323,
+    "recall-0.05": 0.62151,
+    "recall-0.1": 0.94356,
     "recall-0.15": 0.98662,
     "recall-0.25": 0.99871,
     "recall-0.5": 1.0
@@ -574,8 +574,8 @@ Results of the model in various experiments on different datasets. \
 }
 {
   "total_parts": 6678,
-  "correct_parts": 6623,
-  "pcp": 0.991764
+  "correct_parts": 6625,
+  "pcp": 0.992063
 }
 ```
 
@@ -583,27 +583,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.00477884,
-  "demosaicing": 0.000105891,
-  "avg_time_2d": 0.00475547,
-  "avg_time_3d": 3.45411e-05,
-  "time_tracks": 8.63962e-07,
-  "fps": 204.216
+  "img_loading": 0.00479131,
+  "demosaicing": 0.000109975,
+  "avg_time_2d": 0.00481255,
+  "avg_time_3d": 3.46939e-05,
+  "time_tracks": 5.59292e-07,
+  "fps": 201.703
 }
 {
   "triangulator_calls": 222,
-  "init_time": 1.99938e-06,
-  "undistort_time": 5.71187e-06,
-  "project_time": 8.61266e-07,
-  "match_time": 2.61942e-06,
-  "pairs_time": 4.20405e-07,
-  "pair_scoring_time": 4.35068e-06,
-  "grouping_time": 9.27387e-07,
-  "full_time": 5.49219e-06,
-  "merge_time": 2.62484e-06,
-  "post_time": 5.03611e-06,
-  "convert_time": 9.22072e-08,
-  "total_time": 3.03843e-05
+  "init_time": 2.07871e-06,
+  "undistort_time": 5.81449e-06,
+  "project_time": 9.79824e-07,
+  "match_time": 2.67114e-06,
+  "pairs_time": 4.23829e-07,
+  "pair_scoring_time": 4.36216e-06,
+  "grouping_time": 9.25365e-07,
+  "full_time": 5.44962e-06,
+  "merge_time": 2.59767e-06,
+  "post_time": 4.98663e-06,
+  "convert_time": 8.98243e-08,
+  "total_time": 3.06292e-05
 }
 {
   "person_nums": {
@@ -622,32 +622,32 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 376,
-    "mean": 0.075498,
-    "median": 0.073144,
-    "std": 0.014424,
+    "mean": 0.075152,
+    "median": 0.072589,
+    "std": 0.014426,
     "sem": 0.000745,
     "min": 0.040047,
     "max": 0.12107,
     "recall-0.025": 0.0,
     "recall-0.05": 0.007979,
-    "recall-0.1": 0.933511,
+    "recall-0.1": 0.930851,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376,
     "ap-0.025": 0.0,
-    "ap-0.05": 9.4e-05,
-    "ap-0.1": 0.843551,
-    "ap-0.15": 0.959589,
-    "ap-0.25": 0.959589,
-    "ap-0.5": 0.959589
+    "ap-0.05": 8.3e-05,
+    "ap-0.1": 0.842634,
+    "ap-0.15": 0.966628,
+    "ap-0.25": 0.966628,
+    "ap-0.5": 0.966628
   },
   "head": {
     "count": 376,
-    "mean": 0.063289,
+    "mean": 0.06324,
     "median": 0.062777,
-    "std": 0.02607,
-    "sem": 0.001346,
+    "std": 0.025964,
+    "sem": 0.001341,
     "min": 0.007715,
     "max": 0.197424,
     "recall-0.025": 0.055851,
@@ -660,9 +660,9 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
     "count": 376,
-    "mean": 0.066843,
-    "median": 0.064619,
-    "std": 0.029378,
+    "mean": 0.066815,
+    "median": 0.064487,
+    "std": 0.029383,
     "sem": 0.001517,
     "min": 0.016733,
     "max": 0.205046,
@@ -676,10 +676,10 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 376,
-    "mean": 0.069399,
+    "mean": 0.069422,
     "median": 0.062402,
-    "std": 0.031883,
-    "sem": 0.001646,
+    "std": 0.03191,
+    "sem": 0.001648,
     "min": 0.017401,
     "max": 0.198707,
     "recall-0.025": 0.018617,
@@ -692,15 +692,15 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 376,
-    "mean": 0.089682,
+    "mean": 0.089749,
     "median": 0.072996,
-    "std": 0.053299,
-    "sem": 0.002752,
+    "std": 0.053356,
+    "sem": 0.002755,
     "min": 0.009937,
     "max": 0.283516,
     "recall-0.025": 0.029255,
     "recall-0.05": 0.242021,
-    "recall-0.1": 0.651596,
+    "recall-0.1": 0.648936,
     "recall-0.15": 0.867021,
     "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
@@ -708,9 +708,9 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_right": {
     "count": 376,
-    "mean": 0.077757,
+    "mean": 0.077764,
     "median": 0.070519,
-    "std": 0.037705,
+    "std": 0.037706,
     "sem": 0.001947,
     "min": 0.004749,
     "max": 0.194529,
@@ -724,33 +724,33 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 376,
-    "mean": 0.128965,
-    "median": 0.113502,
-    "std": 0.068869,
-    "sem": 0.003556,
+    "mean": 0.128876,
+    "median": 0.113244,
+    "std": 0.068811,
+    "sem": 0.003553,
     "min": 0.015136,
-    "max": 0.352772,
+    "max": 0.348579,
     "recall-0.025": 0.013298,
     "recall-0.05": 0.079787,
-    "recall-0.1": 0.417553,
+    "recall-0.1": 0.420213,
     "recall-0.15": 0.670213,
-    "recall-0.25": 0.920213,
+    "recall-0.25": 0.917553,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "wrist_right": {
     "count": 376,
-    "mean": 0.102037,
-    "median": 0.097009,
-    "std": 0.044155,
-    "sem": 0.00228,
+    "mean": 0.101938,
+    "median": 0.097149,
+    "std": 0.043861,
+    "sem": 0.002265,
     "min": 0.002425,
-    "max": 0.277303,
+    "max": 0.277643,
     "recall-0.025": 0.005319,
-    "recall-0.05": 0.095745,
+    "recall-0.05": 0.093085,
     "recall-0.1": 0.521277,
-    "recall-0.15": 0.864362,
-    "recall-0.25": 0.994681,
+    "recall-0.15": 0.867021,
+    "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
@@ -772,10 +772,10 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
     "count": 376,
-    "mean": 0.065421,
+    "mean": 0.065513,
     "median": 0.059695,
-    "std": 0.034174,
-    "sem": 0.001765,
+    "std": 0.034493,
+    "sem": 0.001781,
     "min": 0.005283,
     "max": 0.259007,
     "recall-0.025": 0.053191,
@@ -804,15 +804,15 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 376,
-    "mean": 0.053806,
-    "median": 0.049906,
-    "std": 0.027608,
-    "sem": 0.001426,
+    "mean": 0.053549,
+    "median": 0.049537,
+    "std": 0.02723,
+    "sem": 0.001406,
     "min": 0.008841,
     "max": 0.230822,
     "recall-0.025": 0.087766,
-    "recall-0.05": 0.5,
-    "recall-0.1": 0.952128,
+    "recall-0.05": 0.50266,
+    "recall-0.1": 0.954787,
     "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -820,50 +820,50 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 376,
-    "mean": 0.074289,
-    "median": 0.066969,
-    "std": 0.045644,
-    "sem": 0.002357,
+    "mean": 0.072542,
+    "median": 0.066373,
+    "std": 0.043744,
+    "sem": 0.002259,
     "min": 0.009841,
     "max": 0.378337,
     "recall-0.025": 0.042553,
-    "recall-0.05": 0.327128,
-    "recall-0.1": 0.832447,
-    "recall-0.15": 0.944149,
+    "recall-0.05": 0.332447,
+    "recall-0.1": 0.853723,
+    "recall-0.15": 0.954787,
     "recall-0.25": 0.989362,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "ankle_right": {
     "count": 376,
-    "mean": 0.066324,
-    "median": 0.052238,
-    "std": 0.048596,
-    "sem": 0.002509,
+    "mean": 0.063903,
+    "median": 0.052158,
+    "std": 0.045647,
+    "sem": 0.002357,
     "min": 0.007344,
     "max": 0.373408,
     "recall-0.025": 0.069149,
-    "recall-0.05": 0.430851,
-    "recall-0.1": 0.859043,
-    "recall-0.15": 0.946809,
-    "recall-0.25": 0.986702,
+    "recall-0.05": 0.43617,
+    "recall-0.1": 0.87766,
+    "recall-0.15": 0.957447,
+    "recall-0.25": 0.989362,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "joint_recalls": {
     "num_labels": 4888,
     "recall-0.025": 0.04194,
-    "recall-0.05": 0.30115,
-    "recall-0.1": 0.79705,
-    "recall-0.15": 0.93208,
-    "recall-0.25": 0.98977,
+    "recall-0.05": 0.30176,
+    "recall-0.1": 0.79992,
+    "recall-0.15": 0.93351,
+    "recall-0.25": 0.98936,
     "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 5264,
-  "correct_parts": 5005,
-  "pcp": 0.950798
+  "correct_parts": 5004,
+  "pcp": 0.950608
 }
 ```
 
diff --git a/rpt/tracker.hpp b/rpt/tracker.hpp
index d15937b..3d42643 100644
--- a/rpt/tracker.hpp
+++ b/rpt/tracker.hpp
@@ -24,7 +24,7 @@ struct Track
 class PoseTracker
 {
 public:
-    PoseTracker(float max_distance);
+    PoseTracker(float fps);
 
     std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> track_poses(
         const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
@@ -36,7 +36,13 @@ public:
 private:
     float max_distance;
     size_t history_size = 3;
-    float max_movement_speed = 2.0;
+
+    // Approach speed of EN ISO 13855 with 2000 mm/sec for hand speed
+    // and an additional factor to compensate for noise-based jumps
+    float max_movement_speed = 2.0 * 1.5;
+
+    // The size of an A4 sheet of paper which is assumed to fit between two different persons
+    float max_base_distance = 0.3;
 
     std::vector<double> timestamps;
     std::vector<Track> pose_tracks;
@@ -64,9 +70,9 @@ private:
 // =================================================================================================
 // =================================================================================================
 
-PoseTracker::PoseTracker(float max_distance)
+PoseTracker::PoseTracker(float fps)
 {
-    this->max_distance = max_distance;
+    this->max_distance = max_base_distance + max_movement_speed / fps;
 }
 
 // =================================================================================================
diff --git a/scripts/test_skelda_dataset.cpp b/scripts/test_skelda_dataset.cpp
index 7875106..c823fd9 100644
--- a/scripts/test_skelda_dataset.cpp
+++ b/scripts/test_skelda_dataset.cpp
@@ -130,12 +130,11 @@ int main(int argc, char **argv)
         std::make_unique<utils_2d_pose::PosePredictor>(
             use_wb, min_bbox_score, min_bbox_area, batch_poses);
 
-    // Load 3D model
+    // Load 3D models
     std::unique_ptr<Triangulator> tri_model = std::make_unique<Triangulator>(
         min_match_score, min_group_size);
-    const float max_distance = 0.3 + 2.0 / ifps;
     std::unique_ptr<PoseTracker> pose_tracker = std::make_unique<PoseTracker>(
-        max_distance);
+        ifps);
 
     // Timers
     size_t time_count = dataset.size();
@@ -249,18 +248,26 @@ int main(int argc, char **argv)
         elapsed = std::chrono::high_resolution_clock::now() - stime;
         times_pose3d.push_back(elapsed.count());
 
-        stime = std::chrono::high_resolution_clock::now();
-        double ts = ((int)item["index"]) / ifps;
-        auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
-        std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
-        for (size_t j = 0; j < pose_tracks.size(); j++)
+        if (ifps < 1)
         {
-            auto &pose = std::get<1>(pose_tracks[j]);
-            poses_3d_refined.push_back(pose);
+            // Disable pose tracking if frame rate is too low
+            times_tracks.push_back(0.0);
+        }
+        else
+        {
+            stime = std::chrono::high_resolution_clock::now();
+            double ts = ((int)item["index"]) / ifps;
+            auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names_2d, ts);
+            std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
+            for (size_t j = 0; j < pose_tracks.size(); j++)
+            {
+                auto &pose = std::get<1>(pose_tracks[j]);
+                poses_3d_refined.push_back(pose);
+            }
+            poses_3d = poses_3d_refined;
+            elapsed = std::chrono::high_resolution_clock::now() - stime;
+            times_tracks.push_back(elapsed.count());
         }
-        poses_3d = poses_3d_refined;
-        elapsed = std::chrono::high_resolution_clock::now() - stime;
-        times_tracks.push_back(elapsed.count());
 
         all_poses_3d.push_back(std::move(poses_3d));
         all_ids.push_back(item["id"].get<std::string>());
diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py
index 24c5b88..4c69657 100644
--- a/scripts/test_skelda_dataset.py
+++ b/scripts/test_skelda_dataset.py
@@ -85,7 +85,7 @@ datasets = {
     },
     "campus": {
         "path": "/datasets/campus/skelda/test.json",
-        "fps": 20,
+        "fps": 25,
         "take_interval": 1,
         "min_match_score": 0.92,
         "min_bbox_score": 0.5,
@@ -93,7 +93,7 @@ datasets = {
     "shelf": {
         "path": "/datasets/shelf/skelda/test.json",
         "take_interval": 1,
-        "fps": 20,
+        "fps": 25,
         "min_match_score": 0.95,
         "min_group_size": 2,
     },

From cc8b75b8bf2df9cae40350a915f61f6ca8d8ff65 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 23 Apr 2025 10:40:59 +0200
Subject: [PATCH 4/8] Improved tracker parametrization.

---
 rpt/tracker.hpp                 | 15 ++++------
 scripts/test_skelda_dataset.cpp |  8 ++++--
 scripts/test_skelda_dataset.py  | 49 +++++++++++++++++++++++++++++++++
 3 files changed, 59 insertions(+), 13 deletions(-)

diff --git a/rpt/tracker.hpp b/rpt/tracker.hpp
index 3d42643..b791f1b 100644
--- a/rpt/tracker.hpp
+++ b/rpt/tracker.hpp
@@ -24,7 +24,7 @@ struct Track
 class PoseTracker
 {
 public:
-    PoseTracker(float fps);
+    PoseTracker(float max_movement_speed, float max_distance);
 
     std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> track_poses(
         const std::vector<std::vector<std::array<float, 4>>> &poses_3d,
@@ -35,15 +35,9 @@ public:
 
 private:
     float max_distance;
+    float max_movement_speed;
     size_t history_size = 3;
 
-    // Approach speed of EN ISO 13855 with 2000 mm/sec for hand speed
-    // and an additional factor to compensate for noise-based jumps
-    float max_movement_speed = 2.0 * 1.5;
-
-    // The size of an A4 sheet of paper which is assumed to fit between two different persons
-    float max_base_distance = 0.3;
-
     std::vector<double> timestamps;
     std::vector<Track> pose_tracks;
 
@@ -70,9 +64,10 @@ private:
 // =================================================================================================
 // =================================================================================================
 
-PoseTracker::PoseTracker(float fps)
+PoseTracker::PoseTracker(float max_movement_speed, float max_distance)
 {
-    this->max_distance = max_base_distance + max_movement_speed / fps;
+    this->max_movement_speed = max_movement_speed;
+    this->max_distance = max_distance;
 }
 
 // =================================================================================================
diff --git a/scripts/test_skelda_dataset.cpp b/scripts/test_skelda_dataset.cpp
index c823fd9..e93ce50 100644
--- a/scripts/test_skelda_dataset.cpp
+++ b/scripts/test_skelda_dataset.cpp
@@ -123,6 +123,8 @@ int main(int argc, char **argv)
     const size_t min_group_size = config["min_group_size"];
     const int take_interval = config["take_interval"];
     const float ifps = config["fps"];
+    const float max_movement_speed = config["max_movement_speed"];
+    const float max_track_distance = config["max_track_distance"];
 
     // Load 2D model
     bool use_wb = utils_pipeline::use_whole_body(whole_body);
@@ -134,7 +136,7 @@ int main(int argc, char **argv)
     std::unique_ptr<Triangulator> tri_model = std::make_unique<Triangulator>(
         min_match_score, min_group_size);
     std::unique_ptr<PoseTracker> pose_tracker = std::make_unique<PoseTracker>(
-        ifps);
+        max_movement_speed, max_track_distance);
 
     // Timers
     size_t time_count = dataset.size();
@@ -216,7 +218,7 @@ int main(int argc, char **argv)
         auto &item = dataset[i];
         auto &poses_2d = all_poses_2d[i];
 
-        if (old_scene != item["scene"] || old_id + take_interval < item["index"])
+        if (old_scene != item["scene"] || old_id + take_interval != item["index"])
         {
             // Reset last poses if scene changes
             tri_model->reset();
@@ -248,7 +250,7 @@ int main(int argc, char **argv)
         elapsed = std::chrono::high_resolution_clock::now() - stime;
         times_pose3d.push_back(elapsed.count());
 
-        if (ifps < 1)
+        if (ifps <= 0)
         {
             // Disable pose tracking if frame rate is too low
             times_tracks.push_back(0.0);
diff --git a/scripts/test_skelda_dataset.py b/scripts/test_skelda_dataset.py
index 4c69657..e016121 100644
--- a/scripts/test_skelda_dataset.py
+++ b/scripts/test_skelda_dataset.py
@@ -51,6 +51,15 @@ default_min_group_size = 1
 # If most of the time only one person is in a image, disable it, because it is slightly slower then
 default_batch_poses = True
 
+# Approach speed of EN ISO 13855 with 2000 mm/sec for hand speed
+# and an additional factor to compensate for noise-based jumps
+default_max_movement_speed = 2.0 * 1.5
+
+# The size of an A4 sheet of paper which is assumed to fit between two different persons
+# and additionally the distance a person can move between two frames (here at 10 fps)
+default_max_track_distance = 0.3 + default_max_movement_speed / 10
+
+
 datasets = {
     "human36m": {
         "path": "/datasets/human36m/skelda/pose_test.json",
@@ -61,6 +70,8 @@ datasets = {
         "min_bbox_score": 0.4,
         "min_bbox_area": 0.1 * 0.1,
         "batch_poses": False,
+        "max_movement_speed": 2.0 * 1.5,
+        "max_track_distance": 0.3 + default_max_movement_speed / (50 / 5),
     },
     "panoptic": {
         "path": "/datasets/panoptic/skelda/test.json",
@@ -69,16 +80,19 @@ datasets = {
         # "cams": ["00_03", "00_06", "00_12", "00_13", "00_23", "00_15", "00_10", "00_21", "00_09", "00_01"],
         # "cams": [],
         "take_interval": 3,
+        "fps": 30,
         "min_match_score": 0.95,
         "use_scenes": ["160906_pizza1", "160422_haggling1", "160906_ian5"],
         "min_group_size": 1,
         # "min_group_size": 4,
         # "min_group_size": 11,
         "min_bbox_area": 0.05 * 0.05,
+        "max_track_distance": 0.3 + default_max_movement_speed / (30 / 3),
     },
     "mvor": {
         "path": "/datasets/mvor/skelda/all.json",
         "take_interval": 1,
+        "fps": -1,
         "with_depth": False,
         "min_match_score": 0.85,
         "min_bbox_score": 0.25,
@@ -89,6 +103,7 @@ datasets = {
         "take_interval": 1,
         "min_match_score": 0.92,
         "min_bbox_score": 0.5,
+        "max_track_distance": 0.3 + default_max_movement_speed / 25,
     },
     "shelf": {
         "path": "/datasets/shelf/skelda/test.json",
@@ -96,82 +111,108 @@ datasets = {
         "fps": 25,
         "min_match_score": 0.95,
         "min_group_size": 2,
+        "max_track_distance": 0.3 + default_max_movement_speed / 25,
     },
     "ikeaasm": {
         "path": "/datasets/ikeaasm/skelda/test.json",
         "take_interval": 2,
+        "fps": -1,
         "min_match_score": 0.92,
         "min_bbox_score": 0.20,
     },
     "chi3d": {
         "path": "/datasets/chi3d/skelda/all.json",
         "take_interval": 5,
+        "fps": 50,
+        "max_track_distance": 0.3 + default_max_movement_speed / (50 / 5),
     },
     "tsinghua": {
         "path": "/datasets/tsinghua/skelda/test.json",
         "take_interval": 3,
+        "fps": 30,
         "min_match_score": 0.95,
         "min_group_size": 2,
+        "max_track_distance": 0.3 + default_max_movement_speed / (30 / 3),
     },
     "human36m_wb": {
         "path": "/datasets/human36m/skelda/wb/test.json",
         "take_interval": 100,
+        "fps": -1,
         "min_bbox_score": 0.4,
         "batch_poses": False,
     },
     "egohumans_tagging": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "tagging",
         "min_match_score": 0.92,
         "min_group_size": 2,
         "min_bbox_score": 0.2,
         "min_bbox_area": 0.05 * 0.05,
+        "max_movement_speed": 4.0 * 1.5,
+        "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
     },
     "egohumans_legoassemble": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "legoassemble",
         "min_group_size": 2,
+        "max_track_distance": 0.3 + default_max_movement_speed / (20 / 2),
     },
     "egohumans_fencing": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "fencing",
         "min_group_size": 7,
         "min_bbox_score": 0.5,
         "min_bbox_area": 0.05 * 0.05,
+        "max_track_distance": 0.3 + default_max_movement_speed / (20 / 2),
     },
     "egohumans_basketball": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "basketball",
         "min_group_size": 7,
         "min_bbox_score": 0.25,
         "min_bbox_area": 0.025 * 0.025,
+        "max_movement_speed": 4.0 * 1.5,
+        "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
     },
     "egohumans_volleyball": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "volleyball",
         "min_group_size": 11,
         "min_bbox_score": 0.25,
         "min_bbox_area": 0.05 * 0.05,
+        "max_movement_speed": 4.0 * 1.5,
+        "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
     },
     "egohumans_badminton": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "badminton",
         "min_group_size": 7,
         "min_bbox_score": 0.25,
         "min_bbox_area": 0.05 * 0.05,
+        "max_movement_speed": 4.0 * 1.5,
+        "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
     },
     "egohumans_tennis": {
         "path": "/datasets/egohumans/skelda/all.json",
         "take_interval": 2,
+        "fps": 20,
         "subset": "tennis",
         "min_group_size": 11,
         "min_bbox_area": 0.025 * 0.025,
+        "max_movement_speed": 4.0 * 1.5,
+        "max_track_distance": 0.3 + (4.0 * 1.5) / (20 / 2),
     },
 }
 
@@ -338,6 +379,12 @@ def main():
     min_bbox_score = datasets[dataset_use].get("min_bbox_score", default_min_bbox_score)
     min_bbox_area = datasets[dataset_use].get("min_bbox_area", default_min_bbox_area)
     batch_poses = datasets[dataset_use].get("batch_poses", default_batch_poses)
+    max_movement_speed = datasets[dataset_use].get(
+        "max_movement_speed", default_max_movement_speed
+    )
+    max_track_distance = datasets[dataset_use].get(
+        "max_track_distance", default_max_track_distance
+    )
 
     # Save config
     config_path = tmp_export_dir + "config.json"
@@ -347,6 +394,8 @@ def main():
         "min_bbox_score": min_bbox_score,
         "min_bbox_area": min_bbox_area,
         "batch_poses": batch_poses,
+        "max_movement_speed": max_movement_speed,
+        "max_track_distance": max_track_distance,
         "whole_body": whole_body,
         "take_interval": datasets[dataset_use]["take_interval"],
         "fps": datasets[dataset_use]["fps"],

From e90d7c53f4e4e7ac5133f20e98880ef61cea3a1a Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 23 Apr 2025 10:41:47 +0200
Subject: [PATCH 5/8] Prevent duplicate track assignments.

---
 rpt/tracker.hpp | 45 +++++++++++++++++++++++++++++++++++++--------
 1 file changed, 37 insertions(+), 8 deletions(-)

diff --git a/rpt/tracker.hpp b/rpt/tracker.hpp
index b791f1b..d8049da 100644
--- a/rpt/tracker.hpp
+++ b/rpt/tracker.hpp
@@ -56,7 +56,7 @@ private:
         "ankle_right",
     };
 
-    int match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d);
+    std::tuple<int, float> match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d);
 
     std::vector<std::array<float, 4>> refine_pose(const Track &track);
 };
@@ -107,15 +107,41 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
     }
 
     // Match core poses to tracks
+    std::vector<std::tuple<size_t, int, float>> matches;
     for (size_t i = 0; i < core_poses.size(); ++i)
     {
-        int track_idx = match_to_track(core_poses[i]);
+        auto [track_idx, distance_sq] = match_to_track(core_poses[i]);
+        matches.emplace_back(i, track_idx, distance_sq);
+    }
+    std::sort(matches.begin(), matches.end(),
+              [](const auto &a, const auto &b)
+              { return std::get<2>(a) < std::get<2>(b); });
+
+    // If track is matched multiple times, only add the best and create new tracks for the rest
+    std::vector<bool> used(pose_tracks.size(), false);
+    for (size_t i = 0; i < matches.size(); ++i)
+    {
+        auto [pose_idx, track_idx, distance_sq] = matches[i];
+        if (track_idx != -1 && !used[track_idx])
+        {
+            used[track_idx] = true;
+        }
+        else
+        {
+            std::get<1>(matches[i]) = -1;
+        }
+    }
+
+    // Update tracks
+    for (size_t i = 0; i < matches.size(); ++i)
+    {
+        auto [pose_idx, track_idx, distance_sq] = matches[i];
         if (track_idx == -1)
         {
             // Create a new track
             Track new_track;
-            new_track.core_poses.push_back(core_poses[i]);
-            new_track.full_poses.push_back(poses_3d[i]);
+            new_track.core_poses.push_back(core_poses[pose_idx]);
+            new_track.full_poses.push_back(poses_3d[pose_idx]);
             new_track.timestamps.push_back(timestamp);
             new_track.id = pose_tracks.size();
             pose_tracks.push_back(new_track);
@@ -124,8 +150,8 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
         {
             // Update existing track
             auto &track = pose_tracks[track_idx];
-            track.core_poses.push_back(core_poses[i]);
-            track.full_poses.push_back(poses_3d[i]);
+            track.core_poses.push_back(core_poses[pose_idx]);
+            track.full_poses.push_back(poses_3d[pose_idx]);
             track.timestamps.push_back(timestamp);
         }
     }
@@ -179,7 +205,7 @@ std::vector<std::tuple<size_t, std::vector<std::array<float, 4>>>> PoseTracker::
 
 // =================================================================================================
 
-int PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d)
+std::tuple<int, float> PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_pose_3d)
 {
     int best_track = -1;
     float best_distance_sq = max_distance * max_distance;
@@ -188,7 +214,9 @@ int PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_po
     {
         const auto &track = pose_tracks[i];
         if (track.core_poses.size() == 0)
+        {
             continue;
+        }
 
         // Calculate distance to the last pose in the track
         const auto &last_pose = track.core_poses.back();
@@ -208,7 +236,8 @@ int PoseTracker::match_to_track(const std::vector<std::array<float, 4>> &core_po
             best_track = static_cast<int>(i);
         }
     }
-    return best_track;
+
+    return {best_track, best_distance_sq};
 }
 
 // =================================================================================================

From 79788cd7e048d22c5930b78a9987eac5d5fa2d3d Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 23 Apr 2025 14:05:04 +0200
Subject: [PATCH 6/8] Add tracking to ros wrapper.

---
 .../rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp   | 37 +++++++++++++++++--
 1 file changed, 34 insertions(+), 3 deletions(-)

diff --git a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp
index b6314e4..9a17172 100644
--- a/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp
+++ b/extras/ros/rpt3d_wrapper_cpp/src/rpt3d_wrapper.cpp
@@ -16,6 +16,7 @@ using json = nlohmann::json;
 #include "rpt_msgs/msg/poses.hpp"
 #include "/RapidPoseTriangulation/rpt/camera.hpp"
 #include "/RapidPoseTriangulation/rpt/interface.hpp"
+#include "/RapidPoseTriangulation/rpt/tracker.hpp"
 
 // =================================================================================================
 
@@ -36,9 +37,14 @@ static const std::string pose_in_topic = "/poses/{}";
 static const std::string cam_info_topic = "/{}/calibration";
 static const std::string pose_out_topic = "/poses/humans3d";
 
-static const float min_match_score = 0.92;
+static const float min_match_score = 0.94;
 static const size_t min_group_size = 1;
 
+static const bool use_tracking = true;
+static const float max_movement_speed = 2.0 * 1.5;
+static const float cam_fps = 50;
+static const float max_track_distance = 0.3 + max_movement_speed / cam_fps;
+
 static const std::array<std::array<float, 3>, 2> roomparams = {{
     {4.0, 5.0, 2.2},
     {1.0, 0.0, 1.1},
@@ -59,9 +65,11 @@ public:
         this->joint_names = {};
         this->all_poses_set.resize(cam_ids.size(), false);
 
-        // Load 3D model
+        // Load 3D models
         tri_model = std::make_unique<Triangulator>(
             min_match_score, min_group_size);
+        pose_tracker = std::make_unique<PoseTracker>(
+            max_movement_speed, max_track_distance);
 
         // QoS
         rclcpp::QoS qos_profile(1);
@@ -113,6 +121,7 @@ private:
     rclcpp::Publisher<rpt_msgs::msg::Poses>::SharedPtr pose_pub_;
 
     std::unique_ptr<Triangulator> tri_model;
+    std::unique_ptr<PoseTracker> pose_tracker;
     std::vector<Camera> all_cameras;
     std::mutex cams_mutex, pose_mutex, model_mutex;
 
@@ -230,11 +239,32 @@ void Rpt3DWrapperNode::call_model()
     // Since the prediction is very fast, parallel callback threads only need to wait a short time
     cams_mutex.lock();
     pose_mutex.lock();
-    const auto valid_poses = tri_model->triangulate_poses(
+    const auto poses_3d = tri_model->triangulate_poses(
         all_poses, all_cameras, roomparams, joint_names);
 
     double min_ts = *std::min_element(all_timestamps.begin(), all_timestamps.end());
     this->all_poses_set = std::vector<bool>(cam_ids.size(), false);
+
+    std::vector<std::vector<std::array<float, 4>>> valid_poses;
+    std::vector<size_t> track_ids;
+    if (use_tracking)
+    {
+        auto pose_tracks = pose_tracker->track_poses(poses_3d, joint_names, min_ts);
+        std::vector<std::vector<std::array<float, 4>>> poses_3d_refined;
+    for (size_t j = 0; j < pose_tracks.size(); j++)
+    {
+        auto &pose = std::get<1>(pose_tracks[j]);
+        poses_3d_refined.push_back(pose);
+        auto &track_id = std::get<0>(pose_tracks[j]);
+        track_ids.push_back(track_id);
+    }
+        valid_poses = std::move(poses_3d_refined);
+    }
+    else
+    {
+        valid_poses = std::move(poses_3d);
+        track_ids = {};
+    }
     pose_mutex.unlock();
     cams_mutex.unlock();
 
@@ -267,6 +297,7 @@ void Rpt3DWrapperNode::call_model()
         }
     }
     pose_msg.joint_names = joint_names;
+    jdata["track_ids"] = track_ids;
     pose_msg.extra_data = jdata.dump();
     pose_pub_->publish(pose_msg);
 

From 7bbb91896a143060c2aed3e76035c1a28b0c068d Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Thu, 24 Apr 2025 15:54:05 +0200
Subject: [PATCH 7/8] Update example script.

---
 scripts/test_triangulate.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/scripts/test_triangulate.py b/scripts/test_triangulate.py
index 04c3885..207ac84 100644
--- a/scripts/test_triangulate.py
+++ b/scripts/test_triangulate.py
@@ -26,6 +26,9 @@ config = {
     "batch_poses": True,
     "whole_body": whole_body,
     "take_interval": 1,
+    "fps": -1,
+    "max_movement_speed": 0,
+    "max_track_distance": 0,
 }
 
 joint_names_2d = utils_pipeline.get_joint_names(whole_body)

From f11f416151b92493026eae769688c6523f408bb0 Mon Sep 17 00:00:00 2001
From: Daniel <daniel@mail.de>
Date: Wed, 28 May 2025 10:18:39 +0200
Subject: [PATCH 8/8] Updated results.

---
 media/RESULTS.md | 4044 +++++++++++++++++++++++-----------------------
 1 file changed, 2041 insertions(+), 2003 deletions(-)

diff --git a/media/RESULTS.md b/media/RESULTS.md
index 194ae23..8f04b3b 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -7,27 +7,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0096864,
-  "demosaicing": 0.000437641,
-  "avg_time_2d": 0.00566353,
-  "avg_time_3d": 3.24314e-05,
-  "time_tracks": 3.44966e-07,
-  "fps": 163.027
+  "img_loading": 0.0209625,
+  "demosaicing": 0.000622594,
+  "avg_time_2d": 0.00825327,
+  "avg_time_3d": 3.69146e-05,
+  "time_tracks": 4.75515e-07,
+  "fps": 112.192
 }
 {
   "triangulator_calls": 600,
-  "init_time": 2.23792e-06,
-  "undistort_time": 3.78982e-06,
-  "project_time": 6.23085e-07,
-  "match_time": 1.21714e-06,
-  "pairs_time": 1.845e-07,
-  "pair_scoring_time": 5.14351e-06,
-  "grouping_time": 9.24192e-07,
-  "full_time": 6.75532e-06,
-  "merge_time": 3.04371e-06,
-  "post_time": 3.80595e-06,
-  "convert_time": 5.85167e-08,
-  "total_time": 2.80385e-05
+  "init_time": 2.68551e-06,
+  "undistort_time": 3.71778e-06,
+  "project_time": 6.96477e-07,
+  "match_time": 1.27031e-06,
+  "pairs_time": 2.0875e-07,
+  "pair_scoring_time": 6.06621e-06,
+  "grouping_time": 1.3693e-06,
+  "full_time": 7.96046e-06,
+  "merge_time": 3.21646e-06,
+  "post_time": 4.74177e-06,
+  "convert_time": 6.763e-08,
+  "total_time": 3.22448e-05
 }
 {
   "person_nums": {
@@ -46,100 +46,100 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.060397,
-    "median": 0.052935,
-    "std": 0.028061,
-    "sem": 0.001147,
-    "min": 0.037548,
-    "max": 0.192385,
+    "mean": 0.060535,
+    "median": 0.053044,
+    "std": 0.028266,
+    "sem": 0.001155,
+    "min": 0.036391,
+    "max": 0.191685,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.333333,
-    "recall-0.1": 0.948333,
+    "recall-0.05": 0.335,
+    "recall-0.1": 0.945,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.188107,
-    "ap-0.1": 0.910493,
-    "ap-0.15": 0.913236,
+    "ap-0.05": 0.189774,
+    "ap-0.1": 0.906441,
+    "ap-0.15": 0.914804,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
   "nose": {
     "count": 600,
-    "mean": 0.107161,
-    "median": 0.095675,
-    "std": 0.040032,
-    "sem": 0.001636,
-    "min": 0.019811,
-    "max": 0.276049,
-    "recall-0.025": 0.005,
-    "recall-0.05": 0.02,
-    "recall-0.1": 0.565,
+    "mean": 0.106551,
+    "median": 0.095236,
+    "std": 0.039752,
+    "sem": 0.001624,
+    "min": 0.014823,
+    "max": 0.277586,
+    "recall-0.025": 0.003333,
+    "recall-0.05": 0.021667,
+    "recall-0.1": 0.585,
     "recall-0.15": 0.855,
-    "recall-0.25": 0.983333,
+    "recall-0.25": 0.988333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_left": {
     "count": 600,
-    "mean": 0.038915,
-    "median": 0.027905,
-    "std": 0.035581,
-    "sem": 0.001454,
-    "min": 0.001434,
-    "max": 0.172065,
-    "recall-0.025": 0.425,
-    "recall-0.05": 0.816667,
-    "recall-0.1": 0.923333,
-    "recall-0.15": 0.96,
+    "mean": 0.038602,
+    "median": 0.027579,
+    "std": 0.034741,
+    "sem": 0.001419,
+    "min": 0.001432,
+    "max": 0.172853,
+    "recall-0.025": 0.418333,
+    "recall-0.05": 0.811667,
+    "recall-0.1": 0.931667,
+    "recall-0.15": 0.965,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_right": {
     "count": 600,
-    "mean": 0.045983,
-    "median": 0.034992,
-    "std": 0.039542,
-    "sem": 0.001616,
-    "min": 0.00206,
-    "max": 0.240597,
+    "mean": 0.045855,
+    "median": 0.034435,
+    "std": 0.039731,
+    "sem": 0.001623,
+    "min": 0.006883,
+    "max": 0.240549,
     "recall-0.025": 0.298333,
-    "recall-0.05": 0.753333,
-    "recall-0.1": 0.91,
-    "recall-0.15": 0.946667,
+    "recall-0.05": 0.775,
+    "recall-0.1": 0.908333,
+    "recall-0.15": 0.945,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_left": {
     "count": 600,
-    "mean": 0.045328,
-    "median": 0.034177,
-    "std": 0.03755,
-    "sem": 0.001534,
-    "min": 0.002988,
-    "max": 0.194229,
+    "mean": 0.045211,
+    "median": 0.033767,
+    "std": 0.037653,
+    "sem": 0.001538,
+    "min": 0.004845,
+    "max": 0.194312,
     "recall-0.025": 0.26,
-    "recall-0.05": 0.763333,
-    "recall-0.1": 0.926667,
-    "recall-0.15": 0.953333,
+    "recall-0.05": 0.781667,
+    "recall-0.1": 0.923333,
+    "recall-0.15": 0.951667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_right": {
     "count": 600,
-    "mean": 0.044168,
-    "median": 0.03193,
-    "std": 0.03869,
-    "sem": 0.001581,
-    "min": 0.005218,
-    "max": 0.427232,
-    "recall-0.025": 0.268333,
-    "recall-0.05": 0.783333,
+    "mean": 0.044041,
+    "median": 0.032214,
+    "std": 0.038365,
+    "sem": 0.001568,
+    "min": 0.004559,
+    "max": 0.407069,
+    "recall-0.025": 0.27,
+    "recall-0.05": 0.795,
     "recall-0.1": 0.928333,
     "recall-0.15": 0.941667,
     "recall-0.25": 0.998333,
@@ -148,146 +148,146 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 600,
-    "mean": 0.039884,
-    "median": 0.022739,
-    "std": 0.04461,
-    "sem": 0.001823,
-    "min": 0.002345,
-    "max": 0.289452,
-    "recall-0.025": 0.553333,
-    "recall-0.05": 0.766667,
-    "recall-0.1": 0.91,
-    "recall-0.15": 0.93,
+    "mean": 0.03981,
+    "median": 0.022309,
+    "std": 0.044042,
+    "sem": 0.0018,
+    "min": 0.003241,
+    "max": 0.252773,
+    "recall-0.025": 0.548333,
+    "recall-0.05": 0.761667,
+    "recall-0.1": 0.911667,
+    "recall-0.15": 0.928333,
     "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_right": {
-    "count": 599,
-    "mean": 0.040157,
-    "median": 0.026117,
-    "std": 0.044323,
-    "sem": 0.001812,
-    "min": 0.003181,
-    "max": 0.296936,
-    "recall-0.025": 0.481667,
-    "recall-0.05": 0.806667,
-    "recall-0.1": 0.915,
+    "count": 598,
+    "mean": 0.04073,
+    "median": 0.025187,
+    "std": 0.044602,
+    "sem": 0.001825,
+    "min": 0.003514,
+    "max": 0.308979,
+    "recall-0.025": 0.491667,
+    "recall-0.05": 0.791667,
+    "recall-0.1": 0.913333,
     "recall-0.15": 0.925,
-    "recall-0.25": 0.995,
-    "recall-0.5": 0.998333,
+    "recall-0.25": 0.993333,
+    "recall-0.5": 0.996667,
     "num_labels": 600
   },
   "hip_left": {
     "count": 600,
-    "mean": 0.071005,
-    "median": 0.059386,
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-    "recall-0.05": 0.198333,
-    "recall-0.1": 0.863333,
-    "recall-0.15": 0.943333,
+    "mean": 0.070231,
+    "median": 0.058914,
+    "std": 0.035311,
+    "sem": 0.001443,
+    "min": 0.02269,
+    "max": 0.216665,
+    "recall-0.025": 0.001667,
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+    "recall-0.1": 0.875,
+    "recall-0.15": 0.946667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "hip_right": {
     "count": 600,
-    "mean": 0.086356,
-    "median": 0.083732,
-    "std": 0.029541,
-    "sem": 0.001207,
-    "min": 0.019818,
+    "mean": 0.086387,
+    "median": 0.083718,
+    "std": 0.02924,
+    "sem": 0.001195,
+    "min": 0.010679,
     "max": 0.219502,
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-    "recall-0.1": 0.868333,
-    "recall-0.15": 0.946667,
+    "recall-0.025": 0.011667,
+    "recall-0.05": 0.058333,
+    "recall-0.1": 0.865,
+    "recall-0.15": 0.948333,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "knee_left": {
-    "count": 599,
-    "mean": 0.052251,
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     "num_labels": 600
   },
   "knee_right": {
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   },
   "ankle_left": {
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-    "median": 0.082601,
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-    "sem": 0.001256,
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+    "count": 598,
+    "mean": 0.089465,
+    "median": 0.08257,
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+    "sem": 0.001304,
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+    "max": 0.353694,
     "recall-0.025": 0.0,
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+    "recall-0.1": 0.871667,
+    "recall-0.15": 0.94,
+    "recall-0.25": 0.991667,
+    "recall-0.5": 0.996667,
     "num_labels": 600
   },
   "ankle_right": {
     "count": 600,
-    "mean": 0.077527,
-    "median": 0.06667,
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-    "sem": 0.001586,
-    "min": 0.033001,
-    "max": 0.281311,
+    "mean": 0.077006,
+    "median": 0.066672,
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+    "min": 0.035939,
+    "max": 0.277096,
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-    "recall-0.25": 0.991667,
+    "recall-0.05": 0.031667,
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+    "recall-0.25": 0.993333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "joint_recalls": {
     "num_labels": 7800,
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-    "recall-0.1": 0.87962,
-    "recall-0.15": 0.93526,
-    "recall-0.25": 0.99603,
+    "recall-0.025": 0.18833,
+    "recall-0.05": 0.50474,
+    "recall-0.1": 0.88205,
+    "recall-0.15": 0.93564,
+    "recall-0.25": 0.99564,
     "recall-0.5": 0.99923
   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8134,
-  "pcp": 0.968333
+  "correct_parts": 8133,
+  "pcp": 0.968214
 }
 ```
 
@@ -295,76 +295,76 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.041449,
-  "demosaicing": 0.000538481,
-  "avg_time_2d": 0.010343,
-  "avg_time_3d": 0.000104335,
-  "time_tracks": 7.30172e-07,
-  "fps": 91.0205
+  "img_loading": 0.0410789,
+  "demosaicing": 0.000730512,
+  "avg_time_2d": 0.0147695,
+  "avg_time_3d": 0.000120724,
+  "time_tracks": 9.84223e-07,
+  "fps": 64.0135
 }
 {
   "triangulator_calls": 301,
-  "init_time": 2.5243e-06,
-  "undistort_time": 1.40503e-05,
-  "project_time": 1.76531e-06,
-  "match_time": 7.66701e-06,
-  "pairs_time": 3.58301e-06,
-  "pair_scoring_time": 2.2612e-05,
-  "grouping_time": 4.06582e-06,
-  "full_time": 2.25735e-05,
-  "merge_time": 1.10049e-05,
-  "post_time": 6.13977e-06,
-  "convert_time": 1.12691e-07,
-  "total_time": 9.63485e-05
+  "init_time": 3.06285e-06,
+  "undistort_time": 1.40894e-05,
+  "project_time": 2.08899e-06,
+  "match_time": 8.13459e-06,
+  "pairs_time": 4.04345e-06,
+  "pair_scoring_time": 2.6331e-05,
+  "grouping_time": 6.48039e-06,
+  "full_time": 2.68403e-05,
+  "merge_time": 1.17703e-05,
+  "post_time": 7.74161e-06,
+  "convert_time": 1.379e-07,
+  "total_time": 0.000110955
 }
 {
   "person_nums": {
     "total_frames": 301,
     "total_labels": 477,
-    "total_preds": 847,
+    "total_preds": 839,
     "considered_empty": 0,
     "valid_preds": 477,
-    "invalid_preds": 370,
+    "invalid_preds": 362,
     "missing": 0,
-    "invalid_fraction": 0.43684,
-    "precision": 0.56316,
+    "invalid_fraction": 0.43147,
+    "precision": 0.56853,
     "recall": 1.0,
-    "f1": 0.72054,
-    "non_empty": 847
+    "f1": 0.72492,
+    "non_empty": 839
   },
   "mpjpe": {
     "count": 477,
-    "mean": 0.047552,
-    "median": 0.042651,
-    "std": 0.014836,
-    "sem": 0.00068,
-    "min": 0.028932,
-    "max": 0.107384,
+    "mean": 0.047475,
+    "median": 0.042505,
+    "std": 0.01481,
+    "sem": 0.000679,
+    "min": 0.028778,
+    "max": 0.107262,
     "recall-0.025": 0.0,
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-    "recall-0.1": 0.987421,
+    "recall-0.05": 0.725367,
+    "recall-0.1": 0.985325,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.453828,
-    "ap-0.1": 0.752279,
-    "ap-0.15": 0.761672,
-    "ap-0.25": 0.761672,
-    "ap-0.5": 0.761672
+    "ap-0.05": 0.459533,
+    "ap-0.1": 0.75171,
+    "ap-0.15": 0.762056,
+    "ap-0.25": 0.762056,
+    "ap-0.5": 0.762056
   },
   "head": {
     "count": 477,
-    "mean": 0.053389,
-    "median": 0.049509,
-    "std": 0.025237,
-    "sem": 0.001157,
-    "min": 0.005816,
-    "max": 0.182842,
-    "recall-0.025": 0.098532,
-    "recall-0.05": 0.524109,
-    "recall-0.1": 0.932914,
+    "mean": 0.052991,
+    "median": 0.048986,
+    "std": 0.025142,
+    "sem": 0.001152,
+    "min": 0.006559,
+    "max": 0.183673,
+    "recall-0.025": 0.106918,
+    "recall-0.05": 0.522013,
+    "recall-0.1": 0.937107,
     "recall-0.15": 0.993711,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -372,14 +372,14 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
     "count": 477,
-    "mean": 0.041942,
-    "median": 0.036994,
-    "std": 0.020721,
-    "sem": 0.00095,
-    "min": 0.003417,
-    "max": 0.1347,
-    "recall-0.025": 0.180294,
-    "recall-0.05": 0.740042,
+    "mean": 0.041955,
+    "median": 0.037041,
+    "std": 0.020741,
+    "sem": 0.000951,
+    "min": 0.004368,
+    "max": 0.132918,
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     "recall-0.1": 0.985325,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -388,15 +388,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 477,
-    "mean": 0.049639,
-    "median": 0.046473,
-    "std": 0.02293,
-    "sem": 0.001051,
+    "mean": 0.049593,
+    "median": 0.046469,
+    "std": 0.022897,
+    "sem": 0.001049,
     "min": 0.005334,
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-    "recall-0.025": 0.104822,
-    "recall-0.05": 0.559748,
-    "recall-0.1": 0.958071,
+    "max": 0.148157,
+    "recall-0.025": 0.100629,
+    "recall-0.05": 0.561845,
+    "recall-0.1": 0.955975,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -404,15 +404,15 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 477,
-    "mean": 0.04012,
-    "median": 0.032194,
-    "std": 0.026044,
-    "sem": 0.001194,
-    "min": 0.003888,
-    "max": 0.146492,
-    "recall-0.025": 0.301887,
-    "recall-0.05": 0.752621,
-    "recall-0.1": 0.953878,
+    "mean": 0.039987,
+    "median": 0.03197,
+    "std": 0.026065,
+    "sem": 0.001195,
+    "min": 0.003618,
+    "max": 0.145663,
+    "recall-0.025": 0.312369,
+    "recall-0.05": 0.756813,
+    "recall-0.1": 0.955975,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -420,63 +420,63 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_right": {
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-    "mean": 0.053554,
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-    "std": 0.04184,
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+    "median": 0.043315,
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+    "min": 0.003567,
+    "max": 0.242994,
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+    "recall-0.05": 0.561845,
+    "recall-0.1": 0.897275,
+    "recall-0.15": 0.962264,
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   },
   "wrist_left": {
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     "recall-0.1": 0.91195,
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-    "recall-0.25": 0.991614,
+    "recall-0.15": 0.966457,
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   "wrist_right": {
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+    "mean": 0.047691,
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+    "std": 0.025943,
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+    "recall-0.05": 0.628931,
+    "recall-0.1": 0.958071,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -484,15 +484,15 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
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-    "mean": 0.057685,
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-    "std": 0.024022,
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+    "mean": 0.057591,
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+    "sem": 0.001094,
+    "min": 0.006301,
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+    "recall-0.05": 0.354298,
+    "recall-0.1": 0.943396,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -500,15 +500,15 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
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-    "mean": 0.040205,
-    "median": 0.03742,
-    "std": 0.024358,
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+    "mean": 0.040294,
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+    "min": 0.00468,
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+    "recall-0.05": 0.752621,
+    "recall-0.1": 0.972746,
     "recall-0.15": 0.989518,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -516,14 +516,14 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039775,
-    "median": 0.035222,
-    "std": 0.023097,
-    "sem": 0.001059,
-    "min": 0.006395,
-    "max": 0.184949,
-    "recall-0.025": 0.303983,
-    "recall-0.05": 0.727463,
+    "mean": 0.039683,
+    "median": 0.035562,
+    "std": 0.023058,
+    "sem": 0.001057,
+    "min": 0.005833,
+    "max": 0.184978,
+    "recall-0.025": 0.318658,
+    "recall-0.05": 0.735849,
     "recall-0.1": 0.974843,
     "recall-0.15": 0.997904,
     "recall-0.25": 1.0,
@@ -532,13 +532,13 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
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-    "mean": 0.036458,
-    "median": 0.028094,
-    "std": 0.03061,
-    "sem": 0.001403,
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-    "max": 0.222831,
-    "recall-0.025": 0.429769,
+    "mean": 0.036416,
+    "median": 0.027617,
+    "std": 0.030557,
+    "sem": 0.001401,
+    "min": 0.004893,
+    "max": 0.223793,
+    "recall-0.025": 0.42348,
     "recall-0.05": 0.819706,
     "recall-0.1": 0.947589,
     "recall-0.15": 0.983229,
@@ -548,15 +548,15 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 477,
-    "mean": 0.040999,
-    "median": 0.030877,
-    "std": 0.038354,
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-    "recall-0.025": 0.30608,
-    "recall-0.05": 0.813417,
-    "recall-0.1": 0.928721,
+    "mean": 0.041098,
+    "median": 0.030845,
+    "std": 0.038414,
+    "sem": 0.001761,
+    "min": 0.003445,
+    "max": 0.28852,
+    "recall-0.025": 0.301887,
+    "recall-0.05": 0.807128,
+    "recall-0.1": 0.930818,
     "recall-0.15": 0.966457,
     "recall-0.25": 0.995807,
     "recall-0.5": 1.0,
@@ -564,11 +564,11 @@ Results of the model in various experiments on different datasets. \
   },
   "joint_recalls": {
     "num_labels": 6201,
-    "recall-0.025": 0.21351,
-    "recall-0.05": 0.62151,
+    "recall-0.025": 0.21609,
+    "recall-0.05": 0.62329,
     "recall-0.1": 0.94356,
-    "recall-0.15": 0.98662,
-    "recall-0.25": 0.99871,
+    "recall-0.15": 0.98742,
+    "recall-0.25": 0.99903,
     "recall-0.5": 1.0
   }
 }
@@ -577,98 +577,118 @@ Results of the model in various experiments on different datasets. \
   "correct_parts": 6625,
   "pcp": 0.992063
 }
+{
+  "total_parts": {
+    "1": 2790,
+    "3": 1610,
+    "2": 370,
+    "sum": 4770
+  },
+  "correct_parts": {
+    "1": 2790,
+    "3": 1610,
+    "2": 370,
+    "sum": 4770
+  },
+  "pcp": {
+    "1": 1.0,
+    "3": 1.0,
+    "2": 1.0,
+    "avg": 1.0
+  }
+}
 ```
 
 ### Campus
 
 ```json
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-  "demosaicing": 0.000109975,
-  "avg_time_2d": 0.00481255,
-  "avg_time_3d": 3.46939e-05,
-  "time_tracks": 5.59292e-07,
-  "fps": 201.703
+  "img_loading": 0.00474583,
+  "demosaicing": 0.000182246,
+  "avg_time_2d": 0.006994,
+  "avg_time_3d": 4.00988e-05,
+  "time_tracks": 7.41094e-07,
+  "fps": 138.56
 }
 {
   "triangulator_calls": 222,
-  "init_time": 2.07871e-06,
-  "undistort_time": 5.81449e-06,
-  "project_time": 9.79824e-07,
-  "match_time": 2.67114e-06,
-  "pairs_time": 4.23829e-07,
-  "pair_scoring_time": 4.36216e-06,
-  "grouping_time": 9.25365e-07,
-  "full_time": 5.44962e-06,
-  "merge_time": 2.59767e-06,
-  "post_time": 4.98663e-06,
-  "convert_time": 8.98243e-08,
-  "total_time": 3.06292e-05
+  "init_time": 2.40937e-06,
+  "undistort_time": 5.79809e-06,
+  "project_time": 1.04741e-06,
+  "match_time": 2.8605e-06,
+  "pairs_time": 4.76198e-07,
+  "pair_scoring_time": 5.13216e-06,
+  "grouping_time": 1.41978e-06,
+  "full_time": 6.60292e-06,
+  "merge_time": 2.97085e-06,
+  "post_time": 6.31724e-06,
+  "convert_time": 1.13797e-07,
+  "total_time": 3.53814e-05
 }
 {
   "person_nums": {
     "total_frames": 222,
     "total_labels": 376,
-    "total_preds": 457,
+    "total_preds": 454,
     "considered_empty": 0,
     "valid_preds": 376,
-    "invalid_preds": 81,
+    "invalid_preds": 78,
     "missing": 0,
-    "invalid_fraction": 0.17724,
-    "precision": 0.82276,
+    "invalid_fraction": 0.17181,
+    "precision": 0.82819,
     "recall": 1.0,
-    "f1": 0.90276,
-    "non_empty": 457
+    "f1": 0.90602,
+    "non_empty": 454
   },
   "mpjpe": {
     "count": 376,
-    "mean": 0.075152,
-    "median": 0.072589,
-    "std": 0.014426,
-    "sem": 0.000745,
-    "min": 0.040047,
-    "max": 0.12107,
+    "mean": 0.075162,
+    "median": 0.072556,
+    "std": 0.014034,
+    "sem": 0.000725,
+    "min": 0.039602,
+    "max": 0.1325,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.007979,
-    "recall-0.1": 0.930851,
+    "recall-0.05": 0.00266,
+    "recall-0.1": 0.93883,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376,
     "ap-0.025": 0.0,
-    "ap-0.05": 8.3e-05,
-    "ap-0.1": 0.842634,
-    "ap-0.15": 0.966628,
-    "ap-0.25": 0.966628,
-    "ap-0.5": 0.966628
+    "ap-0.05": 4e-05,
+    "ap-0.1": 0.858799,
+    "ap-0.15": 0.966406,
+    "ap-0.25": 0.966406,
+    "ap-0.5": 0.966406
   },
   "head": {
     "count": 376,
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-    "median": 0.062777,
-    "std": 0.025964,
-    "sem": 0.001341,
-    "min": 0.007715,
-    "max": 0.197424,
-    "recall-0.025": 0.055851,
-    "recall-0.05": 0.31117,
-    "recall-0.1": 0.928191,
-    "recall-0.15": 0.992021,
+    "mean": 0.062777,
+    "median": 0.061742,
+    "std": 0.025212,
+    "sem": 0.001302,
+    "min": 0.009563,
+    "max": 0.198442,
+    "recall-0.025": 0.050532,
+    "recall-0.05": 0.305851,
+    "recall-0.1": 0.933511,
+    "recall-0.15": 0.994681,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "shoulder_left": {
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-    "sem": 0.001517,
-    "min": 0.016733,
-    "max": 0.205046,
-    "recall-0.025": 0.039894,
+    "mean": 0.066762,
+    "median": 0.064778,
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+    "sem": 0.001528,
+    "min": 0.013559,
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+    "recall-0.025": 0.045213,
     "recall-0.05": 0.321809,
-    "recall-0.1": 0.893617,
+    "recall-0.1": 0.885638,
     "recall-0.15": 0.984043,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -676,15 +696,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
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-    "median": 0.062402,
-    "std": 0.03191,
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+    "median": 0.06227,
+    "std": 0.031907,
     "sem": 0.001648,
-    "min": 0.017401,
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+    "min": 0.017146,
+    "max": 0.198854,
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     "recall-0.15": 0.970745,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -692,127 +712,127 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
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+    "median": 0.073021,
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+    "sem": 0.002747,
+    "min": 0.013567,
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+    "recall-0.05": 0.236702,
+    "recall-0.1": 0.646277,
     "recall-0.15": 0.867021,
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+    "recall-0.25": 0.989362,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "elbow_right": {
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-    "sem": 0.001947,
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-    "max": 0.194529,
-    "recall-0.025": 0.042553,
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+    "max": 0.184804,
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     "recall-0.05": 0.276596,
     "recall-0.1": 0.726064,
-    "recall-0.15": 0.944149,
+    "recall-0.15": 0.941489,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "wrist_left": {
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+    "recall-0.05": 0.077128,
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+    "recall-0.25": 0.922872,
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     "num_labels": 376
   },
   "wrist_right": {
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-    "min": 0.002425,
-    "max": 0.277643,
+    "mean": 0.101756,
+    "median": 0.096874,
+    "std": 0.044372,
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+    "min": 0.00426,
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     "recall-0.025": 0.005319,
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-    "recall-0.1": 0.521277,
-    "recall-0.15": 0.867021,
+    "recall-0.05": 0.101064,
+    "recall-0.1": 0.523936,
+    "recall-0.15": 0.861702,
     "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "hip_left": {
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-    "median": 0.064568,
-    "std": 0.024422,
-    "sem": 0.001261,
-    "min": 0.014176,
-    "max": 0.167623,
+    "mean": 0.067438,
+    "median": 0.064184,
+    "std": 0.024754,
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+    "min": 0.014493,
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     "recall-0.5": 1.0,
     "num_labels": 376
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   "hip_right": {
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-    "recall-0.25": 0.992021,
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+    "recall-0.25": 1.0,
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     "num_labels": 376
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   "knee_left": {
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+    "median": 0.055438,
+    "std": 0.023745,
+    "sem": 0.001226,
+    "min": 0.006714,
+    "max": 0.175629,
+    "recall-0.025": 0.071809,
+    "recall-0.05": 0.390957,
     "recall-0.1": 0.954787,
-    "recall-0.15": 0.989362,
+    "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "knee_right": {
     "count": 376,
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-    "sem": 0.001406,
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-    "max": 0.230822,
-    "recall-0.025": 0.087766,
-    "recall-0.05": 0.50266,
-    "recall-0.1": 0.954787,
+    "mean": 0.054043,
+    "median": 0.049743,
+    "std": 0.027289,
+    "sem": 0.001409,
+    "min": 0.011142,
+    "max": 0.228754,
+    "recall-0.025": 0.077128,
+    "recall-0.05": 0.505319,
+    "recall-0.1": 0.952128,
     "recall-0.15": 0.992021,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -820,50 +840,50 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 376,
-    "mean": 0.072542,
-    "median": 0.066373,
-    "std": 0.043744,
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-    "recall-0.025": 0.042553,
-    "recall-0.05": 0.332447,
-    "recall-0.1": 0.853723,
+    "mean": 0.071464,
+    "median": 0.065404,
+    "std": 0.04228,
+    "sem": 0.002183,
+    "min": 0.010298,
+    "max": 0.378232,
+    "recall-0.025": 0.045213,
+    "recall-0.05": 0.329787,
+    "recall-0.1": 0.861702,
     "recall-0.15": 0.954787,
-    "recall-0.25": 0.989362,
+    "recall-0.25": 0.992021,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "ankle_right": {
     "count": 376,
-    "mean": 0.063903,
-    "median": 0.052158,
-    "std": 0.045647,
-    "sem": 0.002357,
-    "min": 0.007344,
-    "max": 0.373408,
+    "mean": 0.065216,
+    "median": 0.052692,
+    "std": 0.047867,
+    "sem": 0.002472,
+    "min": 0.0034,
+    "max": 0.378972,
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     "recall-0.05": 0.43617,
-    "recall-0.1": 0.87766,
-    "recall-0.15": 0.957447,
-    "recall-0.25": 0.989362,
+    "recall-0.1": 0.87234,
+    "recall-0.15": 0.952128,
+    "recall-0.25": 0.986702,
     "recall-0.5": 1.0,
     "num_labels": 376
   },
   "joint_recalls": {
     "num_labels": 4888,
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-    "recall-0.1": 0.79992,
-    "recall-0.15": 0.93351,
-    "recall-0.25": 0.98936,
+    "recall-0.025": 0.03948,
+    "recall-0.05": 0.29828,
+    "recall-0.1": 0.7989,
+    "recall-0.15": 0.93453,
+    "recall-0.25": 0.99018,
     "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 5264,
-  "correct_parts": 5004,
-  "pcp": 0.950608
+  "correct_parts": 5013,
+  "pcp": 0.952318
 }
 ```
 
@@ -875,6 +895,7 @@ Results of the model in various experiments on different datasets. \
   "demosaicing": 0.0002937,
   "avg_time_2d": 0.00802104,
   "avg_time_3d": 4.47021e-05,
+  "time_tracks": 0,
   "fps": 119.625
 }
 {
@@ -1094,680 +1115,107 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.00104078,
-  "avg_time_2d": 0.016779,
-  "avg_time_3d": 0.000147258,
-  "fps": 55.6575
+  "img_loading": 0.0479199,
+  "demosaicing": 0.00102993,
+  "avg_time_2d": 0.0167737,
+  "avg_time_3d": 0.000150704,
+  "time_tracks": 1.38331e-06,
+  "fps": 55.6924
 }
 {
   "triangulator_calls": 420,
-  "init_time": 2.83825e-06,
-  "undistort_time": 1.62245e-05,
-  "project_time": 2.73635e-06,
-  "match_time": 1.22068e-05,
-  "pairs_time": 7.67092e-06,
-  "pair_scoring_time": 3.49176e-05,
-  "grouping_time": 7.59939e-06,
-  "full_time": 2.92463e-05,
-  "merge_time": 1.35496e-05,
-  "post_time": 8.52639e-06,
-  "convert_time": 1.49119e-07,
-  "total_time": 0.000135899
+  "init_time": 3.30566e-06,
+  "undistort_time": 1.61718e-05,
+  "project_time": 2.97576e-06,
+  "match_time": 1.2894e-05,
+  "pairs_time": 8.03232e-06,
+  "pair_scoring_time": 3.56451e-05,
+  "grouping_time": 7.91833e-06,
+  "full_time": 2.95268e-05,
+  "merge_time": 1.38784e-05,
+  "post_time": 8.84109e-06,
+  "convert_time": 1.9884e-07,
+  "total_time": 0.000139622
 }
 {
   "person_nums": {
     "total_frames": 420,
     "total_labels": 1466,
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+    "total_preds": 1491,
     "considered_empty": 0,
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+    "recall": 0.99795,
+    "f1": 0.98952,
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   "mpjpe": {
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+    "ap-0.25": 0.995779,
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     "recall-0.15": 0.995899,
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-    "num_labels": 1465
-  },
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-    "recall-0.25": 0.996573,
-    "recall-0.5": 0.997258,
-    "num_labels": 1459
-  },
-  "ankle_left": {
-    "count": 1459,
-    "mean": 0.050406,
-    "median": 0.031859,
-    "std": 0.054672,
-    "sem": 0.001432,
-    "min": 0.003265,
-    "max": 0.439571,
-    "recall-0.025": 0.370472,
-    "recall-0.05": 0.700615,
-    "recall-0.1": 0.882433,
-    "recall-0.15": 0.944634,
-    "recall-0.25": 0.980861,
-    "recall-0.5": 0.997266,
-    "num_labels": 1463
-  },
-  "ankle_right": {
-    "count": 1452,
-    "mean": 0.048536,
-    "median": 0.031361,
-    "std": 0.058339,
-    "sem": 0.001532,
-    "min": 0.002507,
-    "max": 0.485436,
-    "recall-0.025": 0.367808,
-    "recall-0.05": 0.757534,
-    "recall-0.1": 0.895205,
-    "recall-0.15": 0.926712,
-    "recall-0.25": 0.974658,
-    "recall-0.5": 0.994521,
-    "num_labels": 1460
-  },
-  "joint_recalls": {
-    "num_labels": 18990,
-    "recall-0.025": 0.58668,
-    "recall-0.05": 0.86493,
-    "recall-0.1": 0.96551,
-    "recall-0.15": 0.98194,
-    "recall-0.25": 0.99236,
-    "recall-0.5": 0.99726
-  }
-}
-{
-  "total_parts": 20444,
-  "correct_parts": 20243,
-  "pcp": 0.990168
-}
-```
-
-##### 3 cameras
-
-```json
-{
-  "img_loading": 0.0292945,
-  "demosaicing": 0.000700228,
-  "avg_time_2d": 0.0100312,
-  "avg_time_3d": 6.66628e-05,
-  "fps": 92.6094
-}
-{
-  "triangulator_calls": 420,
-  "init_time": 2.95553e-06,
-  "undistort_time": 9.92935e-06,
-  "project_time": 1.49162e-06,
-  "match_time": 7.1829e-06,
-  "pairs_time": 2.24381e-06,
-  "pair_scoring_time": 1.12116e-05,
-  "grouping_time": 2.81234e-06,
-  "full_time": 1.00224e-05,
-  "merge_time": 5.28941e-06,
-  "post_time": 7.89963e-06,
-  "convert_time": 1.68905e-07,
-  "total_time": 6.14426e-05
-}
-{
-  "person_nums": {
-    "total_frames": 420,
-    "total_labels": 1466,
-    "total_preds": 1379,
-    "considered_empty": 0,
-    "valid_preds": 1366,
-    "invalid_preds": 13,
-    "missing": 100,
-    "invalid_fraction": 0.00943,
-    "precision": 0.99057,
-    "recall": 0.93179,
-    "f1": 0.96028,
-    "non_empty": 1379
-  },
-  "mpjpe": {
-    "count": 1366,
-    "mean": 0.056595,
-    "median": 0.045554,
-    "std": 0.03804,
-    "sem": 0.00103,
-    "min": 0.018518,
-    "max": 0.348157,
-    "recall-0.025": 0.018417,
-    "recall-0.05": 0.547067,
-    "recall-0.1": 0.84925,
-    "recall-0.15": 0.902456,
-    "recall-0.25": 0.925648,
-    "recall-0.5": 0.931787,
-    "num_labels": 1466,
-    "ap-0.025": 0.004947,
-    "ap-0.05": 0.4475,
-    "ap-0.1": 0.826634,
-    "ap-0.15": 0.892219,
-    "ap-0.25": 0.917603,
-    "ap-0.5": 0.924455
-  },
-  "nose": {
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-    "mean": 0.023824,
-    "median": 0.018351,
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-    "sem": 0.000478,
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-    "recall-0.05": 0.848257,
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-    "recall-0.15": 0.933014,
-    "recall-0.25": 0.933014,
-    "recall-0.5": 0.933014,
-    "num_labels": 1463
-  },
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-    "recall-0.5": 0.931787,
-    "num_labels": 1466
-  },
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-    "sem": 0.000499,
-    "min": 0.002084,
-    "max": 0.215048,
-    "recall-0.025": 0.653242,
-    "recall-0.05": 0.87372,
-    "recall-0.1": 0.926962,
-    "recall-0.15": 0.928328,
-    "recall-0.25": 0.931741,
-    "recall-0.5": 0.931741,
-    "num_labels": 1465
-  },
-  "elbow_left": {
-    "count": 1365,
-    "mean": 0.032839,
-    "median": 0.021354,
-    "std": 0.031501,
-    "sem": 0.000853,
-    "min": 0.00105,
-    "max": 0.2673,
-    "recall-0.025": 0.546758,
-    "recall-0.05": 0.757679,
-    "recall-0.1": 0.877133,
-    "recall-0.15": 0.926962,
-    "recall-0.25": 0.929693,
-    "recall-0.5": 0.931741,
-    "num_labels": 1465
-  },
-  "elbow_right": {
-    "count": 1365,
-    "mean": 0.031128,
-    "median": 0.021108,
-    "std": 0.031112,
-    "sem": 0.000842,
-    "min": 0.002016,
-    "max": 0.325627,
-    "recall-0.025": 0.57553,
-    "recall-0.05": 0.788107,
-    "recall-0.1": 0.901572,
-    "recall-0.15": 0.924129,
-    "recall-0.25": 0.930964,
-    "recall-0.5": 0.933014,
-    "num_labels": 1463
-  },
-  "wrist_left": {
-    "count": 1336,
-    "mean": 0.052095,
-    "median": 0.02347,
-    "std": 0.063364,
-    "sem": 0.001734,
-    "min": 0.001228,
-    "max": 0.492913,
-    "recall-0.025": 0.486053,
-    "recall-0.05": 0.651325,
-    "recall-0.1": 0.778243,
-    "recall-0.15": 0.837517,
-    "recall-0.25": 0.91841,
-    "recall-0.5": 0.93166,
-    "num_labels": 1434
-  },
-  "wrist_right": {
-    "count": 1359,
-    "mean": 0.047294,
-    "median": 0.024005,
-    "std": 0.059423,
-    "sem": 0.001613,
-    "min": 0.001712,
-    "max": 0.353775,
-    "recall-0.025": 0.486951,
-    "recall-0.05": 0.679945,
-    "recall-0.1": 0.820742,
-    "recall-0.15": 0.873626,
-    "recall-0.25": 0.907967,
-    "recall-0.5": 0.933379,
-    "num_labels": 1456
-  },
-  "hip_left": {
-    "count": 1365,
-    "mean": 0.042968,
-    "median": 0.037811,
-    "std": 0.026631,
-    "sem": 0.000721,
-    "min": 0.001201,
-    "max": 0.370723,
-    "recall-0.025": 0.201365,
-    "recall-0.05": 0.666894,
-    "recall-0.1": 0.908532,
-    "recall-0.15": 0.927645,
-    "recall-0.25": 0.930375,
-    "recall-0.5": 0.931741,
-    "num_labels": 1465
-  },
-  "hip_right": {
-    "count": 1366,
-    "mean": 0.05136,
-    "median": 0.043963,
-    "std": 0.032543,
-    "sem": 0.000881,
-    "min": 0.004905,
-    "max": 0.27157,
-    "recall-0.025": 0.154161,
-    "recall-0.05": 0.542974,
-    "recall-0.1": 0.873806,
-    "recall-0.15": 0.918145,
-    "recall-0.25": 0.929741,
-    "recall-0.5": 0.931787,
-    "num_labels": 1466
-  },
-  "knee_left": {
-    "count": 1353,
-    "mean": 0.057829,
-    "median": 0.04077,
-    "std": 0.064952,
-    "sem": 0.001766,
-    "min": 0.003716,
-    "max": 0.396038,
-    "recall-0.025": 0.217065,
-    "recall-0.05": 0.590444,
-    "recall-0.1": 0.837543,
-    "recall-0.15": 0.868259,
-    "recall-0.25": 0.895563,
-    "recall-0.5": 0.923549,
-    "num_labels": 1465
-  },
-  "knee_right": {
-    "count": 1350,
-    "mean": 0.063263,
-    "median": 0.045916,
-    "std": 0.063862,
-    "sem": 0.001739,
-    "min": 0.006358,
-    "max": 0.413608,
-    "recall-0.025": 0.141193,
-    "recall-0.05": 0.514736,
-    "recall-0.1": 0.833448,
-    "recall-0.15": 0.860178,
-    "recall-0.25": 0.893763,
-    "recall-0.5": 0.925291,
-    "num_labels": 1459
-  },
-  "ankle_left": {
-    "count": 1298,
-    "mean": 0.108053,
-    "median": 0.070214,
-    "std": 0.110487,
-    "sem": 0.003068,
-    "min": 0.002475,
-    "max": 0.497978,
-    "recall-0.025": 0.168148,
-    "recall-0.05": 0.367738,
-    "recall-0.1": 0.576213,
-    "recall-0.15": 0.682843,
-    "recall-0.25": 0.768968,
-    "recall-0.5": 0.887218,
-    "num_labels": 1463
-  },
-  "ankle_right": {
-    "count": 1283,
-    "mean": 0.108268,
-    "median": 0.051324,
-    "std": 0.117911,
-    "sem": 0.003293,
-    "min": 0.002089,
-    "max": 0.499606,
-    "recall-0.025": 0.173288,
-    "recall-0.05": 0.426027,
-    "recall-0.1": 0.585616,
-    "recall-0.15": 0.641781,
-    "recall-0.25": 0.743151,
-    "recall-0.5": 0.878767,
-    "num_labels": 1460
-  },
-  "joint_recalls": {
-    "num_labels": 18990,
-    "recall-0.025": 0.39331,
-    "recall-0.05": 0.66198,
-    "recall-0.1": 0.82854,
-    "recall-0.15": 0.86535,
-    "recall-0.25": 0.89547,
-    "recall-0.5": 0.92296
-  }
-}
-{
-  "total_parts": 20444,
-  "correct_parts": 18282,
-  "pcp": 0.894248
-}
-```
-
-##### 7 cameras
-
-```json
-{
-  "img_loading": 0.0691732,
-  "demosaicing": 0.00157471,
-  "avg_time_2d": 0.0235997,
-  "avg_time_3d": 0.000278223,
-  "fps": 39.2887
-}
-{
-  "triangulator_calls": 420,
-  "init_time": 4.45287e-06,
-  "undistort_time": 2.29917e-05,
-  "project_time": 4.28683e-06,
-  "match_time": 1.83516e-05,
-  "pairs_time": 1.81177e-05,
-  "pair_scoring_time": 7.50915e-05,
-  "grouping_time": 1.66607e-05,
-  "full_time": 6.10801e-05,
-  "merge_time": 2.87935e-05,
-  "post_time": 9.30181e-06,
-  "convert_time": 1.58762e-07,
-  "total_time": 0.000259525
-}
-{
-  "person_nums": {
-    "total_frames": 420,
-    "total_labels": 1466,
-    "total_preds": 1516,
-    "considered_empty": 0,
-    "valid_preds": 1463,
-    "invalid_preds": 53,
-    "missing": 3,
-    "invalid_fraction": 0.03496,
-    "precision": 0.96504,
-    "recall": 0.99795,
-    "f1": 0.98122,
-    "non_empty": 1516
-  },
-  "mpjpe": {
-    "count": 1463,
-    "mean": 0.02777,
-    "median": 0.024836,
-    "std": 0.010928,
-    "sem": 0.000286,
-    "min": 0.010042,
-    "max": 0.100122,
-    "recall-0.025": 0.508186,
-    "recall-0.05": 0.952933,
     "recall-0.1": 0.997271,
     "recall-0.15": 0.997954,
     "recall-0.25": 0.997954,
     "recall-0.5": 0.997954,
-    "num_labels": 1466,
-    "ap-0.025": 0.363178,
-    "ap-0.05": 0.931973,
-    "ap-0.1": 0.988724,
-    "ap-0.15": 0.990273,
-    "ap-0.25": 0.990273,
-    "ap-0.5": 0.990273
-  },
-  "nose": {
-    "count": 1460,
-    "mean": 0.013217,
-    "median": 0.010495,
-    "std": 0.014266,
-    "sem": 0.000373,
-    "min": 0.002442,
-    "max": 0.276078,
-    "recall-0.025": 0.931647,
-    "recall-0.05": 0.984279,
-    "recall-0.1": 0.995899,
-    "recall-0.15": 0.995899,
-    "recall-0.25": 0.995899,
-    "recall-0.5": 0.997949,
-    "num_labels": 1463
-  },
-  "shoulder_left": {
-    "count": 1463,
-    "mean": 0.014306,
-    "median": 0.01258,
-    "std": 0.008789,
-    "sem": 0.00023,
-    "min": 0.000678,
-    "max": 0.066125,
-    "recall-0.025": 0.889495,
-    "recall-0.05": 0.991132,
-    "recall-0.1": 0.997954,
-    "recall-0.15": 0.997954,
-    "recall-0.25": 0.997954,
-    "recall-0.5": 0.997954,
     "num_labels": 1466
   },
   "shoulder_right": {
     "count": 1462,
-    "mean": 0.015837,
-    "median": 0.013118,
-    "std": 0.010557,
-    "sem": 0.000276,
-    "min": 0.000866,
-    "max": 0.108435,
-    "recall-0.025": 0.845734,
-    "recall-0.05": 0.983618,
+    "mean": 0.016612,
+    "median": 0.014272,
+    "std": 0.011142,
+    "sem": 0.000292,
+    "min": 0.001248,
+    "max": 0.147753,
+    "recall-0.025": 0.833447,
+    "recall-0.05": 0.986348,
     "recall-0.1": 0.99727,
     "recall-0.15": 0.997952,
     "recall-0.25": 0.997952,
@@ -1776,178 +1224,754 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 1462,
-    "mean": 0.018735,
-    "median": 0.015662,
-    "std": 0.013059,
-    "sem": 0.000342,
-    "min": 0.000432,
-    "max": 0.142625,
-    "recall-0.025": 0.799317,
-    "recall-0.05": 0.96587,
-    "recall-0.1": 0.996587,
-    "recall-0.15": 0.997952,
-    "recall-0.25": 0.997952,
+    "mean": 0.022011,
+    "median": 0.015913,
+    "std": 0.02096,
+    "sem": 0.000548,
+    "min": 0.00084,
+    "max": 0.281775,
+    "recall-0.025": 0.752901,
+    "recall-0.05": 0.916041,
+    "recall-0.1": 0.990444,
+    "recall-0.15": 0.995222,
+    "recall-0.25": 0.996587,
     "recall-0.5": 0.997952,
     "num_labels": 1465
   },
   "elbow_right": {
-    "count": 1460,
-    "mean": 0.018781,
-    "median": 0.015557,
-    "std": 0.013965,
-    "sem": 0.000366,
-    "min": 0.001389,
-    "max": 0.15785,
-    "recall-0.025": 0.840055,
-    "recall-0.05": 0.958305,
-    "recall-0.1": 0.993848,
-    "recall-0.15": 0.997266,
-    "recall-0.25": 0.997949,
-    "recall-0.5": 0.997949,
+    "count": 1462,
+    "mean": 0.020344,
+    "median": 0.015717,
+    "std": 0.015692,
+    "sem": 0.000411,
+    "min": 0.001752,
+    "max": 0.161231,
+    "recall-0.025": 0.801777,
+    "recall-0.05": 0.945318,
+    "recall-0.1": 0.997266,
+    "recall-0.15": 0.998633,
+    "recall-0.25": 0.999316,
+    "recall-0.5": 0.999316,
     "num_labels": 1463
   },
   "wrist_left": {
-    "count": 1431,
-    "mean": 0.023223,
-    "median": 0.01503,
-    "std": 0.026136,
-    "sem": 0.000691,
-    "min": 0.000898,
-    "max": 0.222116,
-    "recall-0.025": 0.737099,
-    "recall-0.05": 0.911437,
-    "recall-0.1": 0.967922,
-    "recall-0.15": 0.987448,
-    "recall-0.25": 0.997908,
-    "recall-0.5": 0.997908,
+    "count": 1432,
+    "mean": 0.03242,
+    "median": 0.015947,
+    "std": 0.048128,
+    "sem": 0.001272,
+    "min": 0.00015,
+    "max": 0.400667,
+    "recall-0.025": 0.698047,
+    "recall-0.05": 0.856346,
+    "recall-0.1": 0.927476,
+    "recall-0.15": 0.962343,
+    "recall-0.25": 0.982566,
+    "recall-0.5": 0.998605,
     "num_labels": 1434
   },
   "wrist_right": {
-    "count": 1455,
-    "mean": 0.022685,
-    "median": 0.01411,
-    "std": 0.029711,
-    "sem": 0.000779,
-    "min": 0.001174,
-    "max": 0.311362,
-    "recall-0.025": 0.76511,
-    "recall-0.05": 0.923764,
-    "recall-0.1": 0.973901,
+    "count": 1456,
+    "mean": 0.025538,
+    "median": 0.016124,
+    "std": 0.031791,
+    "sem": 0.000833,
+    "min": 0.001381,
+    "max": 0.279434,
+    "recall-0.025": 0.703297,
+    "recall-0.05": 0.904533,
+    "recall-0.1": 0.971154,
     "recall-0.15": 0.98489,
-    "recall-0.25": 0.996566,
-    "recall-0.5": 0.999313,
+    "recall-0.25": 0.998626,
+    "recall-0.5": 1.0,
     "num_labels": 1456
   },
   "hip_left": {
     "count": 1462,
-    "mean": 0.029493,
-    "median": 0.027594,
-    "std": 0.015436,
-    "sem": 0.000404,
-    "min": 0.001996,
-    "max": 0.12705,
-    "recall-0.025": 0.436177,
-    "recall-0.05": 0.897611,
-    "recall-0.1": 0.995904,
-    "recall-0.15": 0.997952,
+    "mean": 0.035237,
+    "median": 0.030458,
+    "std": 0.023117,
+    "sem": 0.000605,
+    "min": 0.002484,
+    "max": 0.231182,
+    "recall-0.025": 0.346075,
+    "recall-0.05": 0.842321,
+    "recall-0.1": 0.980887,
+    "recall-0.15": 0.992491,
     "recall-0.25": 0.997952,
     "recall-0.5": 0.997952,
     "num_labels": 1465
   },
   "hip_right": {
     "count": 1463,
-    "mean": 0.032338,
-    "median": 0.028867,
-    "std": 0.01861,
-    "sem": 0.000487,
-    "min": 0.001585,
-    "max": 0.196952,
-    "recall-0.025": 0.389495,
-    "recall-0.05": 0.866985,
-    "recall-0.1": 0.991814,
+    "mean": 0.036829,
+    "median": 0.032162,
+    "std": 0.024043,
+    "sem": 0.000629,
+    "min": 0.003239,
+    "max": 0.27157,
+    "recall-0.025": 0.33015,
+    "recall-0.05": 0.804911,
+    "recall-0.1": 0.978172,
     "recall-0.15": 0.994543,
-    "recall-0.25": 0.997954,
+    "recall-0.25": 0.997271,
     "recall-0.5": 0.997954,
     "num_labels": 1466
   },
   "knee_left": {
     "count": 1462,
-    "mean": 0.031934,
-    "median": 0.028307,
-    "std": 0.018752,
-    "sem": 0.000491,
-    "min": 0.002743,
-    "max": 0.153637,
-    "recall-0.025": 0.416382,
-    "recall-0.05": 0.864846,
-    "recall-0.1": 0.989078,
-    "recall-0.15": 0.996587,
-    "recall-0.25": 0.997952,
+    "mean": 0.037451,
+    "median": 0.032777,
+    "std": 0.029225,
+    "sem": 0.000765,
+    "min": 0.00406,
+    "max": 0.464241,
+    "recall-0.025": 0.296928,
+    "recall-0.05": 0.812969,
+    "recall-0.1": 0.980205,
+    "recall-0.15": 0.989761,
+    "recall-0.25": 0.993857,
     "recall-0.5": 0.997952,
     "num_labels": 1465
   },
   "knee_right": {
-    "count": 1457,
-    "mean": 0.034476,
-    "median": 0.03083,
-    "std": 0.019836,
+    "count": 1456,
+    "mean": 0.037347,
+    "median": 0.031036,
+    "std": 0.02543,
+    "sem": 0.000667,
+    "min": 0.004194,
+    "max": 0.363111,
+    "recall-0.025": 0.371487,
+    "recall-0.05": 0.768334,
+    "recall-0.1": 0.970528,
+    "recall-0.15": 0.995202,
+    "recall-0.25": 0.997258,
+    "recall-0.5": 0.997944,
+    "num_labels": 1459
+  },
+  "ankle_left": {
+    "count": 1460,
+    "mean": 0.050611,
+    "median": 0.032049,
+    "std": 0.054472,
+    "sem": 0.001426,
+    "min": 0.003265,
+    "max": 0.439571,
+    "recall-0.025": 0.370472,
+    "recall-0.05": 0.697881,
+    "recall-0.1": 0.879699,
+    "recall-0.15": 0.945318,
+    "recall-0.25": 0.982228,
+    "recall-0.5": 0.997949,
+    "num_labels": 1463
+  },
+  "ankle_right": {
+    "count": 1453,
+    "mean": 0.048936,
+    "median": 0.031418,
+    "std": 0.058915,
+    "sem": 0.001546,
+    "min": 0.002507,
+    "max": 0.485436,
+    "recall-0.025": 0.367123,
+    "recall-0.05": 0.755479,
+    "recall-0.1": 0.894521,
+    "recall-0.15": 0.926027,
+    "recall-0.25": 0.974658,
+    "recall-0.5": 0.995205,
+    "num_labels": 1460
+  },
+  "joint_recalls": {
+    "num_labels": 18990,
+    "recall-0.025": 0.58662,
+    "recall-0.05": 0.86445,
+    "recall-0.1": 0.96593,
+    "recall-0.15": 0.98246,
+    "recall-0.25": 0.99279,
+    "recall-0.5": 0.99768
+  }
+}
+{
+  "total_parts": 20444,
+  "correct_parts": 20255,
+  "pcp": 0.990755
+}
+```
+
+##### 3 cameras
+
+```json
+{
+  "img_loading": 0.0297065,
+  "demosaicing": 0.000688111,
+  "avg_time_2d": 0.0099169,
+  "avg_time_3d": 6.60544e-05,
+  "time_tracks": 1.16308e-06,
+  "fps": 93.7012
+}
+{
+  "triangulator_calls": 420,
+  "init_time": 2.94144e-06,
+  "undistort_time": 9.86922e-06,
+  "project_time": 1.48401e-06,
+  "match_time": 7.04053e-06,
+  "pairs_time": 2.2787e-06,
+  "pair_scoring_time": 1.10473e-05,
+  "grouping_time": 2.84531e-06,
+  "full_time": 9.9795e-06,
+  "merge_time": 5.23312e-06,
+  "post_time": 7.87855e-06,
+  "convert_time": 1.79293e-07,
+  "total_time": 6.10098e-05
+}
+{
+  "person_nums": {
+    "total_frames": 420,
+    "total_labels": 1466,
+    "total_preds": 1405,
+    "considered_empty": 0,
+    "valid_preds": 1387,
+    "invalid_preds": 18,
+    "missing": 79,
+    "invalid_fraction": 0.01281,
+    "precision": 0.98719,
+    "recall": 0.94611,
+    "f1": 0.96621,
+    "non_empty": 1405
+  },
+  "mpjpe": {
+    "count": 1387,
+    "mean": 0.057809,
+    "median": 0.045733,
+    "std": 0.039393,
+    "sem": 0.001058,
+    "min": 0.018518,
+    "max": 0.348157,
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+    "recall-0.15": 0.912005,
+    "recall-0.25": 0.939973,
+    "recall-0.5": 0.946112,
+    "num_labels": 1466,
+    "ap-0.025": 0.004084,
+    "ap-0.05": 0.446064,
+    "ap-0.1": 0.826788,
+    "ap-0.15": 0.900299,
+    "ap-0.25": 0.930765,
+    "ap-0.5": 0.937125
+  },
+  "nose": {
+    "count": 1386,
+    "mean": 0.024278,
+    "median": 0.0185,
+    "std": 0.018718,
+    "sem": 0.000503,
+    "min": 0.00138,
+    "max": 0.185287,
+    "recall-0.025": 0.616541,
+    "recall-0.05": 0.857143,
+    "recall-0.1": 0.93985,
+    "recall-0.15": 0.946685,
+    "recall-0.25": 0.947368,
+    "recall-0.5": 0.947368,
+    "num_labels": 1463
+  },
+  "shoulder_left": {
+    "count": 1387,
+    "mean": 0.020631,
+    "median": 0.016653,
+    "std": 0.016094,
+    "sem": 0.000432,
+    "min": 0.000838,
+    "max": 0.233408,
+    "recall-0.025": 0.706003,
+    "recall-0.05": 0.911323,
+    "recall-0.1": 0.939973,
+    "recall-0.15": 0.944748,
+    "recall-0.25": 0.946112,
+    "recall-0.5": 0.946112,
+    "num_labels": 1466
+  },
+  "shoulder_right": {
+    "count": 1386,
+    "mean": 0.023485,
+    "median": 0.017809,
+    "std": 0.021117,
+    "sem": 0.000567,
+    "min": 0.002084,
+    "max": 0.215048,
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+    "recall-0.05": 0.883276,
+    "recall-0.1": 0.937201,
+    "recall-0.15": 0.939932,
+    "recall-0.25": 0.946075,
+    "recall-0.5": 0.946075,
+    "num_labels": 1465
+  },
+  "elbow_left": {
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+    "mean": 0.033508,
+    "median": 0.021443,
+    "std": 0.03405,
+    "sem": 0.000915,
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+    "max": 0.406529,
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+    "recall-0.1": 0.890102,
+    "recall-0.15": 0.939932,
+    "recall-0.25": 0.942662,
+    "recall-0.5": 0.946075,
+    "num_labels": 1465
+  },
+  "elbow_right": {
+    "count": 1386,
+    "mean": 0.031599,
+    "median": 0.021155,
+    "std": 0.032062,
+    "sem": 0.000862,
+    "min": 0.002016,
+    "max": 0.325627,
+    "recall-0.025": 0.579631,
+    "recall-0.05": 0.797676,
+    "recall-0.1": 0.912509,
+    "recall-0.15": 0.936432,
+    "recall-0.25": 0.945318,
+    "recall-0.5": 0.947368,
+    "num_labels": 1463
+  },
+  "wrist_left": {
+    "count": 1357,
+    "mean": 0.052803,
+    "median": 0.024023,
+    "std": 0.064029,
+    "sem": 0.001739,
+    "min": 0.001228,
+    "max": 0.492913,
+    "recall-0.025": 0.488145,
+    "recall-0.05": 0.656904,
+    "recall-0.1": 0.788006,
+    "recall-0.15": 0.848675,
+    "recall-0.25": 0.933054,
+    "recall-0.5": 0.946304,
+    "num_labels": 1434
+  },
+  "wrist_right": {
+    "count": 1380,
+    "mean": 0.048042,
+    "median": 0.024233,
+    "std": 0.060625,
+    "sem": 0.001633,
+    "min": 0.001712,
+    "max": 0.405436,
+    "recall-0.025": 0.489698,
+    "recall-0.05": 0.686813,
+    "recall-0.1": 0.831044,
+    "recall-0.15": 0.885302,
+    "recall-0.25": 0.921016,
+    "recall-0.5": 0.947802,
+    "num_labels": 1456
+  },
+  "hip_left": {
+    "count": 1386,
+    "mean": 0.043694,
+    "median": 0.038134,
+    "std": 0.027801,
+    "sem": 0.000747,
+    "min": 0.001201,
+    "max": 0.370723,
+    "recall-0.025": 0.20273,
+    "recall-0.05": 0.67099,
+    "recall-0.1": 0.916724,
+    "recall-0.15": 0.940614,
+    "recall-0.25": 0.94471,
+    "recall-0.5": 0.946075,
+    "num_labels": 1465
+  },
+  "hip_right": {
+    "count": 1387,
+    "mean": 0.052384,
+    "median": 0.044002,
+    "std": 0.034873,
+    "sem": 0.000937,
+    "min": 0.004905,
+    "max": 0.27157,
+    "recall-0.025": 0.156889,
+    "recall-0.05": 0.547749,
+    "recall-0.1": 0.880628,
+    "recall-0.15": 0.92633,
+    "recall-0.25": 0.944065,
+    "recall-0.5": 0.946112,
+    "num_labels": 1466
+  },
+  "knee_left": {
+    "count": 1372,
+    "mean": 0.059338,
+    "median": 0.041103,
+    "std": 0.066615,
+    "sem": 0.001799,
+    "min": 0.003716,
+    "max": 0.396038,
+    "recall-0.025": 0.217065,
+    "recall-0.05": 0.592491,
+    "recall-0.1": 0.840273,
+    "recall-0.15": 0.873038,
+    "recall-0.25": 0.907167,
+    "recall-0.5": 0.936519,
+    "num_labels": 1465
+  },
+  "knee_right": {
+    "count": 1372,
+    "mean": 0.064953,
+    "median": 0.046186,
+    "std": 0.065917,
+    "sem": 0.00178,
+    "min": 0.006358,
+    "max": 0.413608,
+    "recall-0.025": 0.141193,
+    "recall-0.05": 0.517478,
+    "recall-0.1": 0.836875,
+    "recall-0.15": 0.866347,
+    "recall-0.25": 0.9061,
+    "recall-0.5": 0.94037,
+    "num_labels": 1459
+  },
+  "ankle_left": {
+    "count": 1313,
+    "mean": 0.109506,
+    "median": 0.071209,
+    "std": 0.111954,
+    "sem": 0.003091,
+    "min": 0.002475,
+    "max": 0.497978,
+    "recall-0.025": 0.168831,
+    "recall-0.05": 0.368421,
+    "recall-0.1": 0.578947,
+    "recall-0.15": 0.686945,
+    "recall-0.25": 0.77512,
+    "recall-0.5": 0.897471,
+    "num_labels": 1463
+  },
+  "ankle_right": {
+    "count": 1303,
+    "mean": 0.111553,
+    "median": 0.052471,
+    "std": 0.120445,
+    "sem": 0.003338,
+    "min": 0.002089,
+    "max": 0.499606,
+    "recall-0.025": 0.173288,
+    "recall-0.05": 0.425342,
+    "recall-0.1": 0.585616,
+    "recall-0.15": 0.642466,
+    "recall-0.25": 0.74589,
+    "recall-0.5": 0.892466,
+    "num_labels": 1460
+  },
+  "joint_recalls": {
+    "num_labels": 18990,
+    "recall-0.025": 0.39563,
+    "recall-0.05": 0.66751,
+    "recall-0.1": 0.83665,
+    "recall-0.15": 0.87509,
+    "recall-0.25": 0.90758,
+    "recall-0.5": 0.93697
+  }
+}
+{
+  "total_parts": 20444,
+  "correct_parts": 18490,
+  "pcp": 0.904422
+}
+```
+
+##### 7 cameras
+
+```json
+{
+  "img_loading": 0.0676695,
+  "demosaicing": 0.00167722,
+  "avg_time_2d": 0.0236274,
+  "avg_time_3d": 0.000277402,
+  "time_tracks": 1.6014e-06,
+  "fps": 39.0875
+}
+{
+  "triangulator_calls": 420,
+  "init_time": 4.12762e-06,
+  "undistort_time": 2.27581e-05,
+  "project_time": 4.2093e-06,
+  "match_time": 1.80837e-05,
+  "pairs_time": 1.92128e-05,
+  "pair_scoring_time": 7.41403e-05,
+  "grouping_time": 1.65973e-05,
+  "full_time": 6.08105e-05,
+  "merge_time": 2.83742e-05,
+  "post_time": 9.35338e-06,
+  "convert_time": 1.858e-07,
+  "total_time": 0.000258086
+}
+{
+  "person_nums": {
+    "total_frames": 420,
+    "total_labels": 1466,
+    "total_preds": 1525,
+    "considered_empty": 0,
+    "valid_preds": 1465,
+    "invalid_preds": 60,
+    "missing": 1,
+    "invalid_fraction": 0.03934,
+    "precision": 0.96066,
+    "recall": 0.99932,
+    "f1": 0.97961,
+    "non_empty": 1525
+  },
+  "mpjpe": {
+    "count": 1465,
+    "mean": 0.027872,
+    "median": 0.024928,
+    "std": 0.011052,
+    "sem": 0.000289,
+    "min": 0.010042,
+    "max": 0.11011,
+    "recall-0.025": 0.505457,
+    "recall-0.05": 0.952933,
+    "recall-0.1": 0.998636,
+    "recall-0.15": 0.999318,
+    "recall-0.25": 0.999318,
+    "recall-0.5": 0.999318,
+    "num_labels": 1466,
+    "ap-0.025": 0.360471,
+    "ap-0.05": 0.930742,
+    "ap-0.1": 0.989824,
+    "ap-0.15": 0.99048,
+    "ap-0.25": 0.99048,
+    "ap-0.5": 0.99048
+  },
+  "nose": {
+    "count": 1462,
+    "mean": 0.013451,
+    "median": 0.010507,
+    "std": 0.016174,
+    "sem": 0.000423,
+    "min": 0.002442,
+    "max": 0.300311,
+    "recall-0.025": 0.931647,
+    "recall-0.05": 0.984279,
+    "recall-0.1": 0.996582,
+    "recall-0.15": 0.996582,
+    "recall-0.25": 0.996582,
+    "recall-0.5": 0.999316,
+    "num_labels": 1463
+  },
+  "shoulder_left": {
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+    "mean": 0.014367,
+    "median": 0.012587,
+    "std": 0.009017,
+    "sem": 0.000236,
+    "min": 0.000678,
+    "max": 0.091593,
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+    "recall-0.05": 0.991814,
+    "recall-0.1": 0.999318,
+    "recall-0.15": 0.999318,
+    "recall-0.25": 0.999318,
+    "recall-0.5": 0.999318,
+    "num_labels": 1466
+  },
+  "shoulder_right": {
+    "count": 1464,
+    "mean": 0.015886,
+    "median": 0.013121,
+    "std": 0.010646,
+    "sem": 0.000278,
+    "min": 0.000866,
+    "max": 0.108435,
+    "recall-0.025": 0.845734,
+    "recall-0.05": 0.9843,
+    "recall-0.1": 0.998635,
+    "recall-0.15": 0.999317,
+    "recall-0.25": 0.999317,
+    "recall-0.5": 0.999317,
+    "num_labels": 1465
+  },
+  "elbow_left": {
+    "count": 1464,
+    "mean": 0.0188,
+    "median": 0.015688,
+    "std": 0.013281,
+    "sem": 0.000347,
+    "min": 0.000432,
+    "max": 0.142625,
+    "recall-0.025": 0.8,
+    "recall-0.05": 0.966553,
+    "recall-0.1": 0.99727,
+    "recall-0.15": 0.999317,
+    "recall-0.25": 0.999317,
+    "recall-0.5": 0.999317,
+    "num_labels": 1465
+  },
+  "elbow_right": {
+    "count": 1462,
+    "mean": 0.018846,
+    "median": 0.015574,
+    "std": 0.014075,
+    "sem": 0.000368,
+    "min": 0.001389,
+    "max": 0.15785,
+    "recall-0.025": 0.840055,
+    "recall-0.05": 0.958305,
+    "recall-0.1": 0.995215,
+    "recall-0.15": 0.998633,
+    "recall-0.25": 0.999316,
+    "recall-0.5": 0.999316,
+    "num_labels": 1463
+  },
+  "wrist_left": {
+    "count": 1433,
+    "mean": 0.02331,
+    "median": 0.015059,
+    "std": 0.026221,
+    "sem": 0.000693,
+    "min": 0.000898,
+    "max": 0.222116,
+    "recall-0.025": 0.737099,
+    "recall-0.05": 0.911437,
+    "recall-0.1": 0.969317,
+    "recall-0.15": 0.988842,
+    "recall-0.25": 0.999303,
+    "recall-0.5": 0.999303,
+    "num_labels": 1434
+  },
+  "wrist_right": {
+    "count": 1456,
+    "mean": 0.022755,
+    "median": 0.014112,
+    "std": 0.029818,
+    "sem": 0.000782,
+    "min": 0.001174,
+    "max": 0.311362,
+    "recall-0.025": 0.76511,
+    "recall-0.05": 0.923764,
+    "recall-0.1": 0.973901,
+    "recall-0.15": 0.985577,
+    "recall-0.25": 0.997253,
+    "recall-0.5": 1.0,
+    "num_labels": 1456
+  },
+  "hip_left": {
+    "count": 1464,
+    "mean": 0.029562,
+    "median": 0.027611,
+    "std": 0.01559,
+    "sem": 0.000408,
+    "min": 0.001996,
+    "max": 0.12705,
+    "recall-0.025": 0.436177,
+    "recall-0.05": 0.898294,
+    "recall-0.1": 0.996587,
+    "recall-0.15": 0.999317,
+    "recall-0.25": 0.999317,
+    "recall-0.5": 0.999317,
+    "num_labels": 1465
+  },
+  "hip_right": {
+    "count": 1465,
+    "mean": 0.032376,
+    "median": 0.028909,
+    "std": 0.018656,
+    "sem": 0.000488,
+    "min": 0.001585,
+    "max": 0.196952,
+    "recall-0.025": 0.389495,
+    "recall-0.05": 0.867667,
+    "recall-0.1": 0.993179,
+    "recall-0.15": 0.995907,
+    "recall-0.25": 0.999318,
+    "recall-0.5": 0.999318,
+    "num_labels": 1466
+  },
+  "knee_left": {
+    "count": 1464,
+    "mean": 0.031951,
+    "median": 0.028307,
+    "std": 0.018777,
+    "sem": 0.000491,
+    "min": 0.002743,
+    "max": 0.153637,
+    "recall-0.025": 0.417065,
+    "recall-0.05": 0.865529,
+    "recall-0.1": 0.990444,
+    "recall-0.15": 0.997952,
+    "recall-0.25": 0.999317,
+    "recall-0.5": 0.999317,
+    "num_labels": 1465
+  },
+  "knee_right": {
+    "count": 1458,
+    "mean": 0.034502,
+    "median": 0.030849,
+    "std": 0.019855,
     "sem": 0.00052,
     "min": 0.002456,
     "max": 0.205948,
     "recall-0.025": 0.374914,
     "recall-0.05": 0.818369,
-    "recall-0.1": 0.986292,
-    "recall-0.15": 0.997944,
-    "recall-0.25": 0.998629,
-    "recall-0.5": 0.998629,
+    "recall-0.1": 0.986977,
+    "recall-0.15": 0.998629,
+    "recall-0.25": 0.999315,
+    "recall-0.5": 0.999315,
     "num_labels": 1459
   },
   "ankle_left": {
-    "count": 1459,
-    "mean": 0.054458,
-    "median": 0.033123,
-    "std": 0.059469,
-    "sem": 0.001557,
+    "count": 1461,
+    "mean": 0.054406,
+    "median": 0.033161,
+    "std": 0.058541,
+    "sem": 0.001532,
     "min": 0.002262,
     "max": 0.458662,
-    "recall-0.025": 0.367054,
-    "recall-0.05": 0.663021,
+    "recall-0.025": 0.36637,
+    "recall-0.05": 0.660971,
     "recall-0.1": 0.856459,
-    "recall-0.15": 0.920711,
-    "recall-0.25": 0.978127,
-    "recall-0.5": 0.997266,
+    "recall-0.15": 0.922078,
+    "recall-0.25": 0.980861,
+    "recall-0.5": 0.998633,
     "num_labels": 1463
   },
   "ankle_right": {
-    "count": 1455,
-    "mean": 0.049672,
-    "median": 0.029994,
-    "std": 0.06081,
-    "sem": 0.001595,
+    "count": 1457,
+    "mean": 0.050245,
+    "median": 0.030058,
+    "std": 0.06195,
+    "sem": 0.001624,
     "min": 0.001983,
     "max": 0.48623,
-    "recall-0.025": 0.381507,
-    "recall-0.05": 0.75274,
-    "recall-0.1": 0.887671,
-    "recall-0.15": 0.933562,
+    "recall-0.025": 0.380822,
+    "recall-0.05": 0.750685,
+    "recall-0.1": 0.886301,
+    "recall-0.15": 0.932877,
     "recall-0.25": 0.971918,
-    "recall-0.5": 0.996575,
+    "recall-0.5": 0.997945,
     "num_labels": 1460
   },
   "joint_recalls": {
     "num_labels": 18990,
-    "recall-0.025": 0.62823,
+    "recall-0.025": 0.62828,
     "recall-0.05": 0.89073,
-    "recall-0.1": 0.9712,
-    "recall-0.15": 0.98441,
-    "recall-0.25": 0.99384,
-    "recall-0.5": 0.99747
+    "recall-0.1": 0.97199,
+    "recall-0.15": 0.98531,
+    "recall-0.25": 0.99505,
+    "recall-0.5": 0.99884
   }
 }
 {
   "total_parts": 20444,
-  "correct_parts": 20328,
-  "pcp": 0.994326
+  "correct_parts": 20350,
+  "pcp": 0.995402
 }
 ```
 
@@ -1955,63 +1979,64 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.0918391,
-  "demosaicing": 0.00234244,
-  "avg_time_2d": 0.032068,
-  "avg_time_3d": 0.000509022,
-  "fps": 28.6373
+  "img_loading": 0.0909658,
+  "demosaicing": 0.00242828,
+  "avg_time_2d": 0.0324017,
+  "avg_time_3d": 0.00050742,
+  "time_tracks": 2.20957e-06,
+  "fps": 28.2969
 }
 {
   "triangulator_calls": 420,
-  "init_time": 5.07809e-06,
-  "undistort_time": 3.17605e-05,
-  "project_time": 6.21849e-06,
-  "match_time": 2.64733e-05,
-  "pairs_time": 4.0161e-05,
-  "pair_scoring_time": 0.000154257,
-  "grouping_time": 3.21627e-05,
-  "full_time": 0.000113045,
-  "merge_time": 5.76427e-05,
-  "post_time": 9.86215e-06,
-  "convert_time": 1.75738e-07,
-  "total_time": 0.000477074
+  "init_time": 5.11671e-06,
+  "undistort_time": 3.19434e-05,
+  "project_time": 5.91598e-06,
+  "match_time": 2.61242e-05,
+  "pairs_time": 4.20959e-05,
+  "pair_scoring_time": 0.000152818,
+  "grouping_time": 3.22265e-05,
+  "full_time": 0.000112121,
+  "merge_time": 5.77592e-05,
+  "post_time": 9.8474e-06,
+  "convert_time": 2.03929e-07,
+  "total_time": 0.000476412
 }
 {
   "person_nums": {
     "total_frames": 420,
     "total_labels": 1466,
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@@ -2207,26 +2232,26 @@ Results of the model in various experiments on different datasets. \
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@@ -2242,63 +2267,64 @@ Results of the model in various experiments on different datasets. \
 
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@@ -2494,26 +2520,26 @@ Results of the model in various experiments on different datasets. \
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@@ -2533,6 +2559,7 @@ Results of the model in various experiments on different datasets. \
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+    "recall-0.5": 0.99882
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 {
   "total_parts": 10920,
-  "correct_parts": 10776,
-  "pcp": 0.986813
+  "correct_parts": 10806,
+  "pcp": 0.98956
 }
 ```
 
@@ -3103,26 +3131,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
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-  "avg_time_2d": 0.0182223,
-  "avg_time_3d": 0.000181552,
-  "fps": 47.2343
+  "img_loading": 0.109176,
+  "demosaicing": 0.00278284,
+  "avg_time_2d": 0.0182905,
+  "avg_time_3d": 0.000181146,
+  "time_tracks": 9.5166e-07,
+  "fps": 47.0467
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-  "post_time": 7.96508e-06,
-  "convert_time": 1.33171e-07,
-  "total_time": 0.000170749
+  "init_time": 3.0223e-06,
+  "undistort_time": 1.5911e-05,
+  "project_time": 2.70853e-06,
+  "match_time": 9.89257e-06,
+  "pairs_time": 5.23378e-06,
+  "pair_scoring_time": 4.18337e-05,
+  "grouping_time": 1.22786e-05,
+  "full_time": 4.92026e-05,
+  "merge_time": 2.1051e-05,
+  "post_time": 8.00654e-06,
+  "convert_time": 1.46814e-07,
+  "total_time": 0.000169521
 }
 {
   "person_nums": {
@@ -3141,9 +3170,9 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 630,
-    "mean": 0.052822,
+    "mean": 0.052814,
     "median": 0.048901,
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+    "std": 0.017799,
     "sem": 0.00071,
     "min": 0.030026,
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@@ -3155,8 +3184,8 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 630,
     "ap-0.025": 0.0,
-    "ap-0.05": 0.363228,
-    "ap-0.1": 0.948697,
+    "ap-0.05": 0.36398,
+    "ap-0.1": 0.948533,
     "ap-0.15": 1.0,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
@@ -3259,10 +3288,10 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_right": {
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-    "mean": 0.050742,
+    "mean": 0.050698,
     "median": 0.046406,
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+    "std": 0.023717,
+    "sem": 0.000949,
     "min": 0.007026,
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@@ -3355,14 +3384,14 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
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@@ -3396,6 +3425,7 @@ Results of the model in various experiments on different datasets. \
   "demosaicing": 0.000629685,
   "avg_time_2d": 0.00831252,
   "avg_time_3d": 3.5924e-05,
+  "time_tracks": 0,
   "fps": 111.382
 }
 {
@@ -3683,6 +3713,7 @@ Results of the model in various experiments on different datasets. \
   "demosaicing": 0.000593971,
   "avg_time_2d": 0.0114823,
   "avg_time_3d": 0.000122483,
+  "time_tracks": 0,
   "fps": 81.9754
 }
 {
@@ -5968,286 +5999,287 @@ Results of the model in various experiments on different datasets. \
 
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+  "avg_time_3d": 0.000302427,
+  "time_tracks": 2.3222e-06,
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+  "post_time": 1.03018e-05,
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   "joint_recalls": {
     "num_labels": 5200,
     "recall-0.025": 0.38654,
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 }
 {
   "total_parts": 5600,
-  "correct_parts": 5443,
-  "pcp": 0.971964
+  "correct_parts": 5457,
+  "pcp": 0.974464
 }
 ```
 
@@ -6255,26 +6287,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.011134,
-  "avg_time_2d": 0.0239827,
-  "avg_time_3d": 0.000251315,
-  "fps": 28.2742
+  "img_loading": 0.278285,
+  "demosaicing": 0.0110585,
+  "avg_time_2d": 0.0239786,
+  "avg_time_3d": 0.000251731,
+  "time_tracks": 9.95126e-07,
+  "fps": 28.3367
 }
 {
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-  "project_time": 4.35951e-06,
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-  "post_time": 8.43239e-06,
-  "convert_time": 1.34463e-07,
-  "total_time": 0.0002427
+  "init_time": 3.60429e-06,
+  "undistort_time": 1.8677e-05,
+  "project_time": 3.7664e-06,
+  "match_time": 1.28861e-05,
+  "pairs_time": 9.90012e-06,
+  "pair_scoring_time": 6.27622e-05,
+  "grouping_time": 1.80751e-05,
+  "full_time": 7.07869e-05,
+  "merge_time": 3.37148e-05,
+  "post_time": 8.32524e-06,
+  "convert_time": 1.54793e-07,
+  "total_time": 0.000242887
 }
 {
   "person_nums": {
@@ -6542,26 +6575,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.0124074,
-  "avg_time_2d": 0.0289188,
-  "avg_time_3d": 0.000433233,
-  "fps": 23.9467
+  "img_loading": 0.299902,
+  "demosaicing": 0.0126655,
+  "avg_time_2d": 0.0290299,
+  "avg_time_3d": 0.000444933,
+  "time_tracks": 2.21974e-06,
+  "fps": 23.729
 }
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-  "post_time": 9.86665e-06,
-  "convert_time": 1.82283e-07,
-  "total_time": 0.000418932
+  "init_time": 4.89887e-06,
+  "undistort_time": 2.5718e-05,
+  "project_time": 6.0061e-06,
+  "match_time": 2.35875e-05,
+  "pairs_time": 2.54117e-05,
+  "pair_scoring_time": 0.000109867,
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+  "merge_time": 5.94845e-05,
+  "post_time": 1.05036e-05,
+  "convert_time": 2.23861e-07,
+  "total_time": 0.000429098
 }
 {
   "person_nums": {
@@ -6829,63 +6863,64 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.0111053,
-  "avg_time_2d": 0.0281809,
-  "avg_time_3d": 0.000408797,
-  "fps": 25.1921
+  "img_loading": 0.292579,
+  "demosaicing": 0.0110868,
+  "avg_time_2d": 0.0281903,
+  "avg_time_3d": 0.000412008,
+  "time_tracks": 2.30442e-06,
+  "fps": 25.1944
 }
 {
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-  "project_time": 5.17193e-06,
-  "match_time": 2.30387e-05,
-  "pairs_time": 2.23814e-05,
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-  "post_time": 9.98878e-06,
-  "convert_time": 1.80464e-07,
-  "total_time": 0.000396605
+  "init_time": 4.04995e-06,
+  "undistort_time": 2.45463e-05,
+  "project_time": 5.12282e-06,
+  "match_time": 2.29104e-05,
+  "pairs_time": 2.32846e-05,
+  "pair_scoring_time": 0.00010895,
+  "grouping_time": 5.09008e-05,
+  "full_time": 0.000103292,
+  "merge_time": 4.60682e-05,
+  "post_time": 1.02196e-05,
+  "convert_time": 2.05991e-07,
+  "total_time": 0.000399788
 }
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   "person_nums": {
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     "total_labels": 330,
-    "total_preds": 438,
+    "total_preds": 440,
     "considered_empty": 0,
     "valid_preds": 330,
-    "invalid_preds": 108,
+    "invalid_preds": 110,
     "missing": 0,
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-    "precision": 0.75342,
+    "invalid_fraction": 0.25,
+    "precision": 0.75,
     "recall": 1.0,
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+    "f1": 0.85714,
+    "non_empty": 440
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   "mpjpe": {
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-    "sem": 0.000864,
+    "mean": 0.040993,
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+    "std": 0.01607,
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     "min": 0.018223,
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+    "ap-0.025": 0.011594,
+    "ap-0.05": 0.506581,
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+    "ap-0.15": 0.761225,
+    "ap-0.25": 0.761225,
+    "ap-0.5": 0.761225
   },
   "head": {
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@@ -6969,16 +7004,16 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
     "count": 329,
-    "mean": 0.046373,
+    "mean": 0.046821,
     "median": 0.039868,
-    "std": 0.031237,
-    "sem": 0.001725,
+    "std": 0.032923,
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     "min": 0.00411,
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     "recall-0.05": 0.624242,
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+    "recall-0.15": 0.981818,
     "recall-0.25": 0.99697,
     "recall-0.5": 0.99697,
     "num_labels": 330
@@ -7065,50 +7100,50 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_left": {
     "count": 330,
-    "mean": 0.030999,
-    "median": 0.025737,
-    "std": 0.022585,
-    "sem": 0.001245,
+    "mean": 0.032268,
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   "joint_recalls": {
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     "recall-0.5": 0.99977
   }
 }
 {
   "total_parts": 4620,
-  "correct_parts": 4603,
-  "pcp": 0.99632
+  "correct_parts": 4600,
+  "pcp": 0.995671
 }
 ```
 
@@ -7116,286 +7151,287 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "demosaicing": 0.0177444,
-  "avg_time_2d": 0.0511469,
-  "avg_time_3d": 0.000936227,
-  "fps": 14.321
+  "img_loading": 0.432763,
+  "demosaicing": 0.0178295,
+  "avg_time_2d": 0.0512937,
+  "avg_time_3d": 0.000928159,
+  "time_tracks": 3.54476e-06,
+  "fps": 14.2745
 }
 {
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-  "post_time": 1.11279e-05,
-  "convert_time": 2.07289e-07,
-  "total_time": 0.000918031
+  "init_time": 6.75621e-06,
+  "undistort_time": 5.12374e-05,
+  "project_time": 8.89762e-06,
+  "match_time": 3.95005e-05,
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+  "post_time": 1.10982e-05,
+  "convert_time": 2.25504e-07,
+  "total_time": 0.000911537
 }
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   "joint_recalls": {
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   }
 }
 {
   "total_parts": 6776,
-  "correct_parts": 6730,
-  "pcp": 0.993211
+  "correct_parts": 6755,
+  "pcp": 0.996901
 }
 ```
 
@@ -7403,26 +7439,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.413332,
-  "demosaicing": 0.0175982,
-  "avg_time_2d": 0.0438098,
-  "avg_time_3d": 0.000727766,
-  "fps": 16.0938
+  "img_loading": 0.425309,
+  "demosaicing": 0.0175828,
+  "avg_time_2d": 0.0439122,
+  "avg_time_3d": 0.000732078,
+  "time_tracks": 2.60839e-06,
+  "fps": 16.0695
 }
 {
   "triangulator_calls": 183,
-  "init_time": 5.79021e-06,
-  "undistort_time": 4.21408e-05,
-  "project_time": 8.16923e-06,
-  "match_time": 3.26939e-05,
-  "pairs_time": 5.31224e-05,
-  "pair_scoring_time": 0.000196534,
-  "grouping_time": 7.74538e-05,
-  "full_time": 0.000190952,
-  "merge_time": 9.15214e-05,
-  "post_time": 1.07165e-05,
-  "convert_time": 2.0876e-07,
-  "total_time": 0.000709537
+  "init_time": 5.78507e-06,
+  "undistort_time": 4.25049e-05,
+  "project_time": 8.30154e-06,
+  "match_time": 3.30885e-05,
+  "pairs_time": 5.5239e-05,
+  "pair_scoring_time": 0.000196453,
+  "grouping_time": 7.68858e-05,
+  "full_time": 0.000192775,
+  "merge_time": 9.31284e-05,
+  "post_time": 1.08601e-05,
+  "convert_time": 2.36311e-07,
+  "total_time": 0.000715494
 }
 {
   "person_nums": {
@@ -7690,26 +7727,27 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.626226,
-  "demosaicing": 0.0268474,
-  "avg_time_2d": 0.0513508,
-  "avg_time_3d": 0.000611629,
-  "fps": 12.6888
+  "img_loading": 0.671268,
+  "demosaicing": 0.0270076,
+  "avg_time_2d": 0.051466,
+  "avg_time_3d": 0.000617507,
+  "time_tracks": 1.15879e-06,
+  "fps": 12.6435
 }
 {
   "triangulator_calls": 181,
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-  "undistort_time": 3.17885e-05,
-  "project_time": 7.35977e-06,
-  "match_time": 1.57646e-05,
-  "pairs_time": 2.24304e-05,
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-  "grouping_time": 5.9874e-05,
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-  "merge_time": 8.98064e-05,
-  "post_time": 7.85762e-06,
-  "convert_time": 1.16287e-07,
-  "total_time": 0.000580813
+  "init_time": 7.98041e-06,
+  "undistort_time": 3.16803e-05,
+  "project_time": 7.51399e-06,
+  "match_time": 1.58883e-05,
+  "pairs_time": 2.35366e-05,
+  "pair_scoring_time": 0.000162144,
+  "grouping_time": 5.94076e-05,
+  "full_time": 0.000175584,
+  "merge_time": 9.06647e-05,
+  "post_time": 8.08327e-06,
+  "convert_time": 1.40492e-07,
+  "total_time": 0.000582859
 }
 {
   "person_nums": {