diff --git a/media/RESULTS.md b/media/RESULTS.md
index 1643bcc..0236677 100644
--- a/media/RESULTS.md
+++ b/media/RESULTS.md
@@ -297,9 +297,9 @@ Results of the model in various experiments on different datasets.
   },
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     "sem": 0.000676,
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@@ -311,18 +311,18 @@ Results of the model in various experiments on different datasets.
     "recall-0.5": 1.0,
     "num_labels": 477,
     "ap-0.025": 0.0,
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-    "ap-0.1": 0.704294,
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-    "ap-0.25": 0.715696,
-    "ap-0.5": 0.715696
+    "ap-0.05": 0.345814,
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+    "ap-0.25": 0.716098,
+    "ap-0.5": 0.716098
   },
   "head": {
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-    "sem": 0.00119,
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     "min": 0.006373,
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     "recall-0.025": 0.077568,
@@ -335,9 +335,9 @@ Results of the model in various experiments on different datasets.
   },
   "shoulder_left": {
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-    "mean": 0.04442,
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     "sem": 0.000947,
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@@ -351,10 +351,10 @@ Results of the model in various experiments on different datasets.
   },
   "shoulder_right": {
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-    "mean": 0.050591,
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     "recall-0.025": 0.106918,
@@ -367,10 +367,10 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_left": {
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-    "mean": 0.040792,
+    "mean": 0.040813,
     "median": 0.034056,
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     "min": 0.005533,
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     "recall-0.025": 0.301887,
@@ -383,9 +383,9 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_right": {
     "count": 477,
-    "mean": 0.05355,
+    "mean": 0.053545,
     "median": 0.044068,
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+    "std": 0.04202,
     "sem": 0.001926,
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@@ -401,7 +401,7 @@ Results of the model in various experiments on different datasets.
     "count": 477,
     "mean": 0.061591,
     "median": 0.053276,
-    "std": 0.046099,
+    "std": 0.046098,
     "sem": 0.002113,
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@@ -415,9 +415,9 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_right": {
     "count": 477,
-    "mean": 0.058138,
+    "mean": 0.058141,
     "median": 0.053924,
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+    "std": 0.030039,
     "sem": 0.001377,
     "min": 0.009013,
     "max": 0.202256,
@@ -431,10 +431,10 @@ Results of the model in various experiments on different datasets.
   },
   "hip_left": {
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-    "mean": 0.047816,
+    "mean": 0.047799,
     "median": 0.043075,
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+    "std": 0.0263,
+    "sem": 0.001205,
     "min": 0.005757,
     "max": 0.140667,
     "recall-0.025": 0.213836,
@@ -447,9 +447,9 @@ Results of the model in various experiments on different datasets.
   },
   "hip_right": {
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-    "mean": 0.058044,
+    "mean": 0.058043,
     "median": 0.056365,
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     "sem": 0.001168,
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@@ -463,9 +463,9 @@ Results of the model in various experiments on different datasets.
   },
   "knee_left": {
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-    "mean": 0.039973,
+    "mean": 0.03997,
     "median": 0.03745,
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@@ -479,9 +479,9 @@ Results of the model in various experiments on different datasets.
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039398,
+    "mean": 0.0394,
     "median": 0.034816,
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     "sem": 0.001071,
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@@ -495,9 +495,9 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_left": {
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-    "mean": 0.03731,
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@@ -511,9 +511,9 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_right": {
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-    "mean": 0.041422,
+    "mean": 0.041421,
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@@ -1047,31 +1047,31 @@ Results of the model in various experiments on different datasets.
   },
   "mpjpe": {
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     "recall-0.025": 0.152797,
-    "recall-0.05": 0.744884,
+    "recall-0.05": 0.744202,
     "recall-0.1": 0.980218,
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     "recall-0.25": 0.998636,
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     "num_labels": 1466,
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@@ -1085,13 +1085,13 @@ Results of the model in various experiments on different datasets.
   },
   "shoulder_left": {
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-    "mean": 0.021465,
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     "median": 0.019035,
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     "sem": 0.000295,
     "min": 0.002677,
     "max": 0.095793,
-    "recall-0.025": 0.703956,
+    "recall-0.025": 0.704638,
     "recall-0.05": 0.978172,
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     "recall-0.15": 0.998636,
@@ -1101,8 +1101,8 @@ Results of the model in various experiments on different datasets.
   },
   "shoulder_right": {
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+    "mean": 0.022784,
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@@ -1117,13 +1117,13 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_left": {
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-    "mean": 0.026243,
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-    "std": 0.028785,
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     "sem": 0.000753,
     "min": 0.001259,
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@@ -1133,10 +1133,10 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_right": {
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-    "mean": 0.023204,
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     "median": 0.018218,
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@@ -1149,9 +1149,9 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_left": {
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-    "mean": 0.035069,
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     "median": 0.017008,
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@@ -1165,10 +1165,10 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_right": {
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-    "mean": 0.023797,
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     "median": 0.01627,
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@@ -1181,14 +1181,14 @@ Results of the model in various experiments on different datasets.
   },
   "hip_left": {
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@@ -1197,9 +1197,9 @@ Results of the model in various experiments on different datasets.
   },
   "hip_right": {
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@@ -1213,13 +1213,13 @@ Results of the model in various experiments on different datasets.
   },
   "knee_left": {
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@@ -1229,10 +1229,10 @@ Results of the model in various experiments on different datasets.
   },
   "knee_right": {
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@@ -1245,15 +1245,15 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_left": {
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@@ -1261,14 +1261,14 @@ Results of the model in various experiments on different datasets.
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@@ -1277,8 +1277,8 @@ Results of the model in various experiments on different datasets.
   },
   "joint_recalls": {
     "num_labels": 18990,
-    "recall-0.025": 0.48726,
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     "recall-0.25": 0.98146,
@@ -1287,8 +1287,8 @@ Results of the model in various experiments on different datasets.
 }
 {
   "total_parts": 20444,
-  "correct_parts": 19977,
-  "pcp": 0.977157
+  "correct_parts": 19976,
+  "pcp": 0.977108
 }
 ```
 
@@ -1566,9 +1566,9 @@ Results of the model in various experiments on different datasets.
 
 ```json
 {
-  "avg_time_2d": 0.2057144705842181,
-  "avg_time_3d": 0.001667153544542266,
-  "avg_fps": 4.822028008513975
+  "avg_time_2d": 0.2086035833126161,
+  "avg_time_3d": 0.0016778585387439262,
+  "avg_fps": 4.755531402085697
 }
 {
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@@ -1587,36 +1587,36 @@ Results of the model in various experiments on different datasets.
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@@ -1625,15 +1625,15 @@ Results of the model in various experiments on different datasets.
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@@ -1641,14 +1641,14 @@ Results of the model in various experiments on different datasets.
   },
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@@ -1657,14 +1657,14 @@ Results of the model in various experiments on different datasets.
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@@ -1673,15 +1673,15 @@ Results of the model in various experiments on different datasets.
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@@ -1689,15 +1689,15 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_left": {
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@@ -1705,31 +1705,31 @@ Results of the model in various experiments on different datasets.
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@@ -1737,15 +1737,15 @@ Results of the model in various experiments on different datasets.
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@@ -1753,82 +1753,82 @@ Results of the model in various experiments on different datasets.
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 }
 ```
 
@@ -2108,9 +2108,9 @@ Results of the model in various experiments on different datasets.
 (duration 00:01:51)
 ```json
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@@ -2167,15 +2167,15 @@ Results of the model in various experiments on different datasets.
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@@ -2183,15 +2183,15 @@ Results of the model in various experiments on different datasets.
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@@ -2199,14 +2199,14 @@ Results of the model in various experiments on different datasets.
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@@ -2215,46 +2215,46 @@ Results of the model in various experiments on different datasets.
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@@ -2263,15 +2263,15 @@ Results of the model in various experiments on different datasets.
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@@ -2279,15 +2279,15 @@ Results of the model in various experiments on different datasets.
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@@ -2295,15 +2295,15 @@ Results of the model in various experiments on different datasets.
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@@ -2311,15 +2311,15 @@ Results of the model in various experiments on different datasets.
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@@ -2327,14 +2327,14 @@ Results of the model in various experiments on different datasets.
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@@ -2343,14 +2343,14 @@ Results of the model in various experiments on different datasets.
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@@ -2359,9 +2359,9 @@ Results of the model in various experiments on different datasets.
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@@ -2369,8 +2369,8 @@ Results of the model in various experiments on different datasets.
 }
 {
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-  "correct_parts": 8585,
-  "pcp": 0.983954
+  "correct_parts": 8587,
+  "pcp": 0.984183
 }
 ```
 
@@ -4922,9 +4922,9 @@ Results of the model in various experiments on different datasets.
 
 ```json
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 }
 {
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@@ -4965,14 +4965,14 @@ Results of the model in various experiments on different datasets.
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@@ -4981,14 +4981,14 @@ Results of the model in various experiments on different datasets.
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@@ -5013,14 +5013,14 @@ Results of the model in various experiments on different datasets.
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@@ -5029,15 +5029,15 @@ Results of the model in various experiments on different datasets.
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@@ -5045,15 +5045,15 @@ Results of the model in various experiments on different datasets.
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@@ -5061,15 +5061,15 @@ Results of the model in various experiments on different datasets.
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@@ -5077,14 +5077,14 @@ Results of the model in various experiments on different datasets.
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@@ -5093,14 +5093,14 @@ Results of the model in various experiments on different datasets.
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@@ -5109,14 +5109,14 @@ Results of the model in various experiments on different datasets.
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@@ -5125,14 +5125,14 @@ Results of the model in various experiments on different datasets.
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@@ -5141,15 +5141,15 @@ Results of the model in various experiments on different datasets.
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@@ -5157,14 +5157,14 @@ Results of the model in various experiments on different datasets.
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@@ -5173,9 +5173,9 @@ Results of the model in various experiments on different datasets.
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@@ -5192,9 +5192,9 @@ Results of the model in various experiments on different datasets.
 
 ```json
 {
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+  "avg_time_3d": 0.0010111460814604888,
+  "avg_fps": 5.943268642788918
 }
 {
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@@ -5213,21 +5213,21 @@ Results of the model in various experiments on different datasets.
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@@ -5235,14 +5235,14 @@ Results of the model in various experiments on different datasets.
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@@ -5251,30 +5251,30 @@ Results of the model in various experiments on different datasets.
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@@ -5283,14 +5283,14 @@ Results of the model in various experiments on different datasets.
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@@ -5299,13 +5299,13 @@ Results of the model in various experiments on different datasets.
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@@ -5315,14 +5315,14 @@ Results of the model in various experiments on different datasets.
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@@ -5331,31 +5331,31 @@ Results of the model in various experiments on different datasets.
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@@ -5363,14 +5363,14 @@ Results of the model in various experiments on different datasets.
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@@ -5379,15 +5379,15 @@ Results of the model in various experiments on different datasets.
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@@ -5395,13 +5395,13 @@ Results of the model in various experiments on different datasets.
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@@ -5411,30 +5411,30 @@ Results of the model in various experiments on different datasets.
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@@ -5443,18 +5443,18 @@ Results of the model in various experiments on different datasets.
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 {
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+  "correct_parts": 5081,
+  "pcp": 0.999803
 }
 ```
 
@@ -5462,9 +5462,9 @@ Results of the model in various experiments on different datasets.
 
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@@ -5569,14 +5569,14 @@ Results of the model in various experiments on different datasets.
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@@ -5585,31 +5585,31 @@ Results of the model in various experiments on different datasets.
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@@ -5617,15 +5617,15 @@ Results of the model in various experiments on different datasets.
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@@ -5633,15 +5633,15 @@ Results of the model in various experiments on different datasets.
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@@ -5649,14 +5649,14 @@ Results of the model in various experiments on different datasets.
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@@ -5665,15 +5665,15 @@ Results of the model in various experiments on different datasets.
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@@ -5681,15 +5681,15 @@ Results of the model in various experiments on different datasets.
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@@ -5697,14 +5697,14 @@ Results of the model in various experiments on different datasets.
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@@ -5713,10 +5713,10 @@ Results of the model in various experiments on different datasets.
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@@ -5732,74 +5732,74 @@ Results of the model in various experiments on different datasets.
 
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 }
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@@ -5967,14 +5967,14 @@ Results of the model in various experiments on different datasets.
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+  "correct_parts": 4577,
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 }
 ```
 
@@ -6002,9 +6002,9 @@ Results of the model in various experiments on different datasets.
 
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@@ -6077,95 +6077,95 @@ Results of the model in various experiments on different datasets.
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@@ -6173,15 +6173,15 @@ Results of the model in various experiments on different datasets.
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@@ -6189,31 +6189,31 @@ Results of the model in various experiments on different datasets.
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@@ -6221,31 +6221,31 @@ Results of the model in various experiments on different datasets.
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@@ -6253,18 +6253,18 @@ Results of the model in various experiments on different datasets.
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 }
 ```
 
@@ -6272,9 +6272,9 @@ Results of the model in various experiments on different datasets.
 
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@@ -6443,15 +6443,15 @@ Results of the model in various experiments on different datasets.
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@@ -6459,14 +6459,14 @@ Results of the model in various experiments on different datasets.
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@@ -6475,15 +6475,15 @@ Results of the model in various experiments on different datasets.
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@@ -6491,14 +6491,14 @@ Results of the model in various experiments on different datasets.
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@@ -6507,14 +6507,14 @@ Results of the model in various experiments on different datasets.
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@@ -6523,18 +6523,18 @@ Results of the model in various experiments on different datasets.
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+  "correct_parts": 10247,
+  "pcp": 0.999902
 }
 ```
 
@@ -6542,9 +6542,9 @@ Results of the model in various experiments on different datasets.
 
 ```json
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+  "avg_fps": 2.7532048627206662
 }
 {
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@@ -6563,37 +6563,37 @@ Results of the model in various experiments on different datasets.
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@@ -6601,15 +6601,15 @@ Results of the model in various experiments on different datasets.
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+    "sem": 0.00086,
+    "min": 0.002592,
+    "max": 0.191377,
+    "recall-0.025": 0.616022,
+    "recall-0.05": 0.961326,
+    "recall-0.1": 0.997238,
     "recall-0.15": 0.997238,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -6617,15 +6617,15 @@ Results of the model in various experiments on different datasets.
   },
   "shoulder_right": {
     "count": 362,
-    "mean": 0.033171,
-    "median": 0.029829,
-    "std": 0.016964,
-    "sem": 0.000893,
-    "min": 0.004262,
-    "max": 0.10401,
-    "recall-0.025": 0.350829,
-    "recall-0.05": 0.853591,
-    "recall-0.1": 0.994475,
+    "mean": 0.030729,
+    "median": 0.028529,
+    "std": 0.01447,
+    "sem": 0.000762,
+    "min": 0.004766,
+    "max": 0.119156,
+    "recall-0.025": 0.38674,
+    "recall-0.05": 0.900552,
+    "recall-0.1": 0.997238,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -6633,15 +6633,15 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_left": {
     "count": 362,
-    "mean": 0.02166,
-    "median": 0.017017,
-    "std": 0.016124,
-    "sem": 0.000849,
-    "min": 0.001198,
-    "max": 0.098002,
-    "recall-0.025": 0.729282,
-    "recall-0.05": 0.939227,
-    "recall-0.1": 1.0,
+    "mean": 0.01908,
+    "median": 0.015487,
+    "std": 0.013031,
+    "sem": 0.000686,
+    "min": 0.001985,
+    "max": 0.110283,
+    "recall-0.025": 0.776243,
+    "recall-0.05": 0.966851,
+    "recall-0.1": 0.997238,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -6649,15 +6649,15 @@ Results of the model in various experiments on different datasets.
   },
   "elbow_right": {
     "count": 362,
-    "mean": 0.025665,
-    "median": 0.019758,
-    "std": 0.021831,
-    "sem": 0.001149,
-    "min": 0.003087,
-    "max": 0.169963,
-    "recall-0.025": 0.657459,
-    "recall-0.05": 0.917127,
-    "recall-0.1": 0.975138,
+    "mean": 0.021372,
+    "median": 0.018405,
+    "std": 0.01528,
+    "sem": 0.000804,
+    "min": 0.002919,
+    "max": 0.154667,
+    "recall-0.025": 0.70442,
+    "recall-0.05": 0.975138,
+    "recall-0.1": 0.98895,
     "recall-0.15": 0.997238,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -6665,14 +6665,14 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_left": {
     "count": 362,
-    "mean": 0.028497,
-    "median": 0.02414,
-    "std": 0.017974,
-    "sem": 0.000946,
-    "min": 0.002374,
-    "max": 0.12591,
-    "recall-0.025": 0.527624,
-    "recall-0.05": 0.875691,
+    "mean": 0.024198,
+    "median": 0.020844,
+    "std": 0.014683,
+    "sem": 0.000773,
+    "min": 0.002876,
+    "max": 0.125489,
+    "recall-0.025": 0.618785,
+    "recall-0.05": 0.939227,
     "recall-0.1": 0.997238,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -6681,30 +6681,30 @@ Results of the model in various experiments on different datasets.
   },
   "wrist_right": {
     "count": 362,
-    "mean": 0.034383,
-    "median": 0.025345,
-    "std": 0.032977,
-    "sem": 0.001736,
-    "min": 0.001469,
-    "max": 0.311793,
-    "recall-0.025": 0.494475,
-    "recall-0.05": 0.820442,
-    "recall-0.1": 0.972376,
+    "mean": 0.028523,
+    "median": 0.022245,
+    "std": 0.029502,
+    "sem": 0.001553,
+    "min": 0.000956,
+    "max": 0.317255,
+    "recall-0.025": 0.610497,
+    "recall-0.05": 0.88674,
+    "recall-0.1": 0.983425,
     "recall-0.15": 0.98895,
-    "recall-0.25": 0.991713,
+    "recall-0.25": 0.994475,
     "recall-0.5": 1.0,
     "num_labels": 362
   },
   "hip_left": {
     "count": 362,
-    "mean": 0.025706,
-    "median": 0.023688,
-    "std": 0.013899,
-    "sem": 0.000732,
-    "min": 0.003653,
-    "max": 0.113763,
-    "recall-0.025": 0.530387,
-    "recall-0.05": 0.950276,
+    "mean": 0.02606,
+    "median": 0.023303,
+    "std": 0.014419,
+    "sem": 0.000759,
+    "min": 0.004382,
+    "max": 0.105688,
+    "recall-0.025": 0.549724,
+    "recall-0.05": 0.944751,
     "recall-0.1": 0.997238,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -6713,14 +6713,14 @@ Results of the model in various experiments on different datasets.
   },
   "hip_right": {
     "count": 362,
-    "mean": 0.028493,
-    "median": 0.026524,
-    "std": 0.016768,
-    "sem": 0.000883,
-    "min": 0.003071,
-    "max": 0.200297,
-    "recall-0.025": 0.464088,
-    "recall-0.05": 0.933702,
+    "mean": 0.02718,
+    "median": 0.024014,
+    "std": 0.016933,
+    "sem": 0.000891,
+    "min": 0.001527,
+    "max": 0.201031,
+    "recall-0.025": 0.530387,
+    "recall-0.05": 0.941989,
     "recall-0.1": 0.994475,
     "recall-0.15": 0.997238,
     "recall-0.25": 1.0,
@@ -6729,14 +6729,14 @@ Results of the model in various experiments on different datasets.
   },
   "knee_left": {
     "count": 362,
-    "mean": 0.015966,
-    "median": 0.014134,
-    "std": 0.008725,
-    "sem": 0.000459,
-    "min": 0.001037,
-    "max": 0.063199,
-    "recall-0.025": 0.859116,
-    "recall-0.05": 0.997238,
+    "mean": 0.014291,
+    "median": 0.012937,
+    "std": 0.007554,
+    "sem": 0.000398,
+    "min": 0.001143,
+    "max": 0.047464,
+    "recall-0.025": 0.917127,
+    "recall-0.05": 1.0,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -6745,30 +6745,30 @@ Results of the model in various experiments on different datasets.
   },
   "knee_right": {
     "count": 362,
-    "mean": 0.018681,
-    "median": 0.015485,
-    "std": 0.01677,
-    "sem": 0.000883,
-    "min": 0.001885,
-    "max": 0.242573,
-    "recall-0.025": 0.812155,
-    "recall-0.05": 0.977901,
+    "mean": 0.015976,
+    "median": 0.013446,
+    "std": 0.016267,
+    "sem": 0.000856,
+    "min": 0.001447,
+    "max": 0.26013,
+    "recall-0.025": 0.889503,
+    "recall-0.05": 0.98895,
     "recall-0.1": 0.994475,
     "recall-0.15": 0.997238,
-    "recall-0.25": 1.0,
+    "recall-0.25": 0.997238,
     "recall-0.5": 1.0,
     "num_labels": 362
   },
   "ankle_left": {
     "count": 362,
-    "mean": 0.03354,
-    "median": 0.031667,
-    "std": 0.014477,
-    "sem": 0.000762,
-    "min": 0.004951,
-    "max": 0.094323,
-    "recall-0.025": 0.281768,
-    "recall-0.05": 0.889503,
+    "mean": 0.027287,
+    "median": 0.025675,
+    "std": 0.010564,
+    "sem": 0.000556,
+    "min": 0.007553,
+    "max": 0.073418,
+    "recall-0.025": 0.469613,
+    "recall-0.05": 0.961326,
     "recall-0.1": 1.0,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
@@ -6777,15 +6777,15 @@ Results of the model in various experiments on different datasets.
   },
   "ankle_right": {
     "count": 362,
-    "mean": 0.032449,
-    "median": 0.028011,
-    "std": 0.030411,
-    "sem": 0.001601,
-    "min": 0.003353,
-    "max": 0.485343,
-    "recall-0.025": 0.428177,
-    "recall-0.05": 0.848066,
-    "recall-0.1": 0.98895,
+    "mean": 0.025062,
+    "median": 0.021241,
+    "std": 0.028536,
+    "sem": 0.001502,
+    "min": 0.001405,
+    "max": 0.495127,
+    "recall-0.025": 0.629834,
+    "recall-0.05": 0.964088,
+    "recall-0.1": 0.994475,
     "recall-0.15": 0.994475,
     "recall-0.25": 0.997238,
     "recall-0.5": 1.0,
@@ -6793,17 +6793,17 @@ Results of the model in various experiments on different datasets.
   },
   "joint_recalls": {
     "num_labels": 4706,
-    "recall-0.025": 0.53251,
-    "recall-0.05": 0.90268,
-    "recall-0.1": 0.99065,
+    "recall-0.025": 0.60582,
+    "recall-0.05": 0.94241,
+    "recall-0.1": 0.99384,
     "recall-0.15": 0.99745,
-    "recall-0.25": 0.99915,
+    "recall-0.25": 0.99894,
     "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 5068,
-  "correct_parts": 5057,
-  "pcp": 0.99783
+  "correct_parts": 5059,
+  "pcp": 0.998224
 }
 ```
diff --git a/spt/triangulator.cpp b/spt/triangulator.cpp
index 8b3986f..28e4618 100644
--- a/spt/triangulator.cpp
+++ b/spt/triangulator.cpp
@@ -1534,7 +1534,7 @@ cv::Mat TriangulatorInternal::merge_group(const std::vector<cv::Mat> &poses_3d,
     }
 
     // Select the best-k proposals for each joint that are closest to the initial pose
-    int keep_best = 3;
+    int keep_best = std::max(3, num_poses / 3);
     cv::Mat best_k_mask = cv::Mat::zeros(num_poses, num_joints, CV_8U);
     for (int j = 0; j < num_joints; ++j)
     {