diff --git a/extras/jetson/README.md b/extras/jetson/README.md
index e666bf1..6c3707c 100644
--- a/extras/jetson/README.md
+++ b/extras/jetson/README.md
@@ -86,6 +86,25 @@ Tested with a _Jetson AGX Orin Developer Kit_ module.
 
   ```bash
   cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
+
+  cd /RapidPoseTriangulation/scripts/ && \
+  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
+    -I /RapidPoseTriangulation/rpt/ \
+    -isystem /usr/include/opencv4/ \
+    -isystem /usr/local/include/onnxruntime/ \
+    -L /usr/local/lib/ \
+    test_skelda_dataset.cpp \
+    /RapidPoseTriangulation/rpt/*.cpp \
+    -o test_skelda_dataset.bin \
+    -Wl,--start-group \
+      -lonnxruntime_providers_tensorrt \
+      -lonnxruntime_providers_shared \
+      -lonnxruntime_providers_cuda \
+      -lonnxruntime \
+    -Wl,--end-group \
+    $(pkg-config --libs opencv4) \
+    -Wl,-rpath,/onnxruntime/build/Linux/Release/ \
+  && cd ..
   ```
 
 - Test with samples:
diff --git a/extras/jetson/RESULTS.md b/extras/jetson/RESULTS.md
index 3bc7210..45e26bb 100644
--- a/extras/jetson/RESULTS.md
+++ b/extras/jetson/RESULTS.md
@@ -7,10 +7,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.019871617979922537,
-  "avg_time_2d": 0.024201560020446777,
-  "avg_time_3d": 0.0006943431951231876,
-  "avg_fps": 40.16725126785508
+  "img_loading": 0.0342574,
+  "avg_time_2d": 0.0191282,
+  "avg_time_3d": 0.000285512,
+  "fps": 51.51
+}
+{
+  "triangulator_calls": 600,
+  "init_time": 1.45132e-05,
+  "undistort_time": 3.91272e-05,
+  "project_time": 4.18648e-08,
+  "match_time": 4.42098e-08,
+  "pairs_time": 3.36173e-05,
+  "pair_scoring_time": 7.06038e-05,
+  "grouping_time": 4.52551e-06,
+  "full_time": 6.50399e-05,
+  "merge_time": 1.1182e-05,
+  "post_time": 1.5184e-05,
+  "convert_time": 4.0527e-07,
+  "total_time": 0.000254829
 }
 {
   "person_nums": {
@@ -29,165 +44,165 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
     "count": 600,
-    "mean": 0.066544,
-    "median": 0.058633,
-    "std": 0.027907,
-    "sem": 0.00114,
-    "min": 0.044045,
-    "max": 0.190448,
+    "mean": 0.061528,
+    "median": 0.053105,
+    "std": 0.028823,
+    "sem": 0.001178,
+    "min": 0.036321,
+    "max": 0.186535,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.055,
+    "recall-0.05": 0.323333,
     "recall-0.1": 0.933333,
     "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": 0.006816,
-    "ap-0.1": 0.892957,
-    "ap-0.15": 0.915918,
+    "ap-0.05": 0.17148,
+    "ap-0.1": 0.885051,
+    "ap-0.15": 0.912095,
     "ap-0.25": 1.0,
     "ap-0.5": 1.0
   },
   "nose": {
     "count": 600,
-    "mean": 0.113926,
-    "median": 0.096371,
-    "std": 0.04379,
-    "sem": 0.001789,
-    "min": 0.026343,
-    "max": 0.29862,
+    "mean": 0.107804,
+    "median": 0.095215,
+    "std": 0.03784,
+    "sem": 0.001546,
+    "min": 0.026628,
+    "max": 0.246024,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.015,
-    "recall-0.1": 0.531667,
-    "recall-0.15": 0.813333,
-    "recall-0.25": 0.988333,
+    "recall-0.05": 0.023333,
+    "recall-0.1": 0.566667,
+    "recall-0.15": 0.871667,
+    "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_left": {
     "count": 600,
-    "mean": 0.033951,
-    "median": 0.025071,
-    "std": 0.032164,
-    "sem": 0.001314,
-    "min": 0.002309,
-    "max": 0.181442,
-    "recall-0.025": 0.495,
-    "recall-0.05": 0.861667,
-    "recall-0.1": 0.941667,
-    "recall-0.15": 0.968333,
+    "mean": 0.035809,
+    "median": 0.026225,
+    "std": 0.033892,
+    "sem": 0.001385,
+    "min": 0.001365,
+    "max": 0.170129,
+    "recall-0.025": 0.471667,
+    "recall-0.05": 0.818333,
+    "recall-0.1": 0.946667,
+    "recall-0.15": 0.961667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "shoulder_right": {
     "count": 600,
-    "mean": 0.047367,
-    "median": 0.034223,
-    "std": 0.041566,
-    "sem": 0.001698,
-    "min": 0.004691,
-    "max": 0.260949,
-    "recall-0.025": 0.221667,
-    "recall-0.05": 0.761667,
-    "recall-0.1": 0.918333,
-    "recall-0.15": 0.94,
-    "recall-0.25": 0.996667,
+    "mean": 0.044851,
+    "median": 0.032717,
+    "std": 0.03965,
+    "sem": 0.00162,
+    "min": 0.004574,
+    "max": 0.211014,
+    "recall-0.025": 0.313333,
+    "recall-0.05": 0.776667,
+    "recall-0.1": 0.911667,
+    "recall-0.15": 0.946667,
+    "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_left": {
     "count": 600,
-    "mean": 0.042654,
-    "median": 0.034221,
-    "std": 0.034687,
-    "sem": 0.001417,
-    "min": 0.003159,
-    "max": 0.200759,
-    "recall-0.025": 0.263333,
-    "recall-0.05": 0.818333,
-    "recall-0.1": 0.943333,
-    "recall-0.15": 0.96,
+    "mean": 0.045214,
+    "median": 0.035623,
+    "std": 0.036095,
+    "sem": 0.001475,
+    "min": 0.00296,
+    "max": 0.192319,
+    "recall-0.025": 0.25,
+    "recall-0.05": 0.776667,
+    "recall-0.1": 0.931667,
+    "recall-0.15": 0.953333,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "elbow_right": {
     "count": 600,
-    "mean": 0.043257,
-    "median": 0.032602,
-    "std": 0.034101,
-    "sem": 0.001393,
-    "min": 0.006362,
-    "max": 0.204302,
-    "recall-0.025": 0.236667,
-    "recall-0.05": 0.795,
-    "recall-0.1": 0.935,
-    "recall-0.15": 0.946667,
-    "recall-0.25": 1.0,
+    "mean": 0.043301,
+    "median": 0.031516,
+    "std": 0.03664,
+    "sem": 0.001497,
+    "min": 0.004823,
+    "max": 0.282918,
+    "recall-0.025": 0.263333,
+    "recall-0.05": 0.811667,
+    "recall-0.1": 0.925,
+    "recall-0.15": 0.943333,
+    "recall-0.25": 0.998333,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_left": {
     "count": 600,
-    "mean": 0.04175,
-    "median": 0.024365,
-    "std": 0.045669,
-    "sem": 0.001866,
-    "min": 0.002452,
-    "max": 0.307723,
-    "recall-0.025": 0.513333,
-    "recall-0.05": 0.765,
-    "recall-0.1": 0.89,
-    "recall-0.15": 0.933333,
-    "recall-0.25": 0.998333,
+    "mean": 0.041557,
+    "median": 0.024995,
+    "std": 0.045514,
+    "sem": 0.00186,
+    "min": 0.001332,
+    "max": 0.318702,
+    "recall-0.025": 0.5,
+    "recall-0.05": 0.75,
+    "recall-0.1": 0.893333,
+    "recall-0.15": 0.943333,
+    "recall-0.25": 0.996667,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "wrist_right": {
     "count": 599,
-    "mean": 0.046283,
-    "median": 0.026429,
-    "std": 0.055176,
-    "sem": 0.002256,
-    "min": 0.002881,
-    "max": 0.43245,
-    "recall-0.025": 0.463333,
+    "mean": 0.046718,
+    "median": 0.028549,
+    "std": 0.053068,
+    "sem": 0.00217,
+    "min": 0.002781,
+    "max": 0.461978,
+    "recall-0.025": 0.443333,
     "recall-0.05": 0.763333,
     "recall-0.1": 0.883333,
-    "recall-0.15": 0.908333,
-    "recall-0.25": 0.993333,
+    "recall-0.15": 0.906667,
+    "recall-0.25": 0.986667,
     "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "hip_left": {
     "count": 600,
-    "mean": 0.090089,
-    "median": 0.086392,
-    "std": 0.032732,
-    "sem": 0.001337,
-    "min": 0.010219,
-    "max": 0.237936,
-    "recall-0.025": 0.006667,
-    "recall-0.05": 0.035,
-    "recall-0.1": 0.821667,
-    "recall-0.15": 0.95,
+    "mean": 0.068465,
+    "median": 0.057404,
+    "std": 0.035629,
+    "sem": 0.001456,
+    "min": 0.024328,
+    "max": 0.217183,
+    "recall-0.025": 0.001667,
+    "recall-0.05": 0.253333,
+    "recall-0.1": 0.886667,
+    "recall-0.15": 0.946667,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "hip_right": {
     "count": 600,
-    "mean": 0.114144,
-    "median": 0.112805,
-    "std": 0.026059,
-    "sem": 0.001065,
-    "min": 0.03471,
-    "max": 0.231222,
-    "recall-0.025": 0.0,
-    "recall-0.05": 0.01,
-    "recall-0.1": 0.213333,
+    "mean": 0.085129,
+    "median": 0.081728,
+    "std": 0.028927,
+    "sem": 0.001182,
+    "min": 0.016843,
+    "max": 0.209943,
+    "recall-0.025": 0.015,
+    "recall-0.05": 0.063333,
+    "recall-0.1": 0.873333,
     "recall-0.15": 0.95,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -195,82 +210,82 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_left": {
     "count": 600,
-    "mean": 0.060487,
-    "median": 0.045169,
-    "std": 0.058631,
-    "sem": 0.002396,
-    "min": 0.018273,
-    "max": 0.415974,
-    "recall-0.025": 0.038333,
-    "recall-0.05": 0.603333,
-    "recall-0.1": 0.92,
-    "recall-0.15": 0.928333,
-    "recall-0.25": 0.98,
+    "mean": 0.058233,
+    "median": 0.043165,
+    "std": 0.060661,
+    "sem": 0.002479,
+    "min": 0.016292,
+    "max": 0.485495,
+    "recall-0.025": 0.081667,
+    "recall-0.05": 0.683333,
+    "recall-0.1": 0.913333,
+    "recall-0.15": 0.921667,
+    "recall-0.25": 0.981667,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "knee_right": {
     "count": 600,
-    "mean": 0.052012,
-    "median": 0.043445,
-    "std": 0.036202,
-    "sem": 0.001479,
-    "min": 0.015586,
-    "max": 0.234792,
-    "recall-0.025": 0.033333,
-    "recall-0.05": 0.73,
-    "recall-0.1": 0.936667,
-    "recall-0.15": 0.94,
-    "recall-0.25": 1.0,
+    "mean": 0.046531,
+    "median": 0.034435,
+    "std": 0.040745,
+    "sem": 0.001665,
+    "min": 0.010466,
+    "max": 0.306815,
+    "recall-0.025": 0.11,
+    "recall-0.05": 0.823333,
+    "recall-0.1": 0.926667,
+    "recall-0.15": 0.941667,
+    "recall-0.25": 0.995,
     "recall-0.5": 1.0,
     "num_labels": 600
   },
   "ankle_left": {
-    "count": 597,
-    "mean": 0.096212,
-    "median": 0.084027,
-    "std": 0.051433,
-    "sem": 0.002107,
-    "min": 0.049764,
-    "max": 0.499526,
+    "count": 595,
+    "mean": 0.08901,
+    "median": 0.082242,
+    "std": 0.032861,
+    "sem": 0.001348,
+    "min": 0.046121,
+    "max": 0.451095,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.001667,
-    "recall-0.1": 0.845,
-    "recall-0.15": 0.936667,
-    "recall-0.25": 0.98,
-    "recall-0.5": 0.995,
+    "recall-0.05": 0.003333,
+    "recall-0.1": 0.87,
+    "recall-0.15": 0.938333,
+    "recall-0.25": 0.986667,
+    "recall-0.5": 0.991667,
     "num_labels": 600
   },
   "ankle_right": {
-    "count": 600,
-    "mean": 0.079987,
-    "median": 0.067815,
-    "std": 0.046496,
-    "sem": 0.0019,
-    "min": 0.029049,
-    "max": 0.385925,
+    "count": 599,
+    "mean": 0.081515,
+    "median": 0.066829,
+    "std": 0.051696,
+    "sem": 0.002114,
+    "min": 0.028852,
+    "max": 0.395517,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.021667,
-    "recall-0.1": 0.905,
-    "recall-0.15": 0.931667,
-    "recall-0.25": 0.983333,
-    "recall-0.5": 1.0,
+    "recall-0.05": 0.031667,
+    "recall-0.1": 0.893333,
+    "recall-0.15": 0.915,
+    "recall-0.25": 0.973333,
+    "recall-0.5": 0.998333,
     "num_labels": 600
   },
   "joint_recalls": {
     "num_labels": 7800,
-    "recall-0.025": 0.1741,
-    "recall-0.05": 0.47513,
-    "recall-0.1": 0.82141,
-    "recall-0.15": 0.93064,
-    "recall-0.25": 0.99333,
-    "recall-0.5": 0.99936
+    "recall-0.025": 0.18808,
+    "recall-0.05": 0.505,
+    "recall-0.1": 0.87795,
+    "recall-0.15": 0.93333,
+    "recall-0.25": 0.99346,
+    "recall-0.5": 0.99885
   }
 }
 {
   "total_parts": 8400,
-  "correct_parts": 8102,
-  "pcp": 0.964524
+  "correct_parts": 8125,
+  "pcp": 0.967262
 }
 ```
 
@@ -278,75 +293,90 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.05844812458733103,
-  "avg_time_2d": 0.061463059428631235,
-  "avg_time_3d": 0.0011567078095531137,
-  "avg_fps": 15.969398228459381
+  "img_loading": 0.0785831,
+  "avg_time_2d": 0.0404525,
+  "avg_time_3d": 0.00126554,
+  "fps": 23.9704
+}
+{
+  "triangulator_calls": 301,
+  "init_time": 1.91998e-05,
+  "undistort_time": 0.000115129,
+  "project_time": 0.000137981,
+  "match_time": 0.000131471,
+  "pairs_time": 0.000116419,
+  "pair_scoring_time": 0.000273513,
+  "grouping_time": 2.37856e-05,
+  "full_time": 0.000238893,
+  "merge_time": 6.02346e-05,
+  "post_time": 2.70387e-05,
+  "convert_time": 8.76502e-07,
+  "total_time": 0.00114508
 }
 {
   "person_nums": {
     "total_frames": 301,
     "total_labels": 477,
-    "total_preds": 830,
+    "total_preds": 846,
     "considered_empty": 0,
     "valid_preds": 477,
-    "invalid_preds": 353,
+    "invalid_preds": 369,
     "missing": 0,
-    "invalid_fraction": 0.4253,
-    "precision": 0.5747,
+    "invalid_fraction": 0.43617,
+    "precision": 0.56383,
     "recall": 1.0,
-    "f1": 0.72992,
-    "non_empty": 830
+    "f1": 0.72109,
+    "non_empty": 846
   },
   "mpjpe": {
     "count": 477,
-    "mean": 0.048402,
-    "median": 0.043251,
-    "std": 0.014931,
+    "mean": 0.048053,
+    "median": 0.042925,
+    "std": 0.014919,
     "sem": 0.000684,
-    "min": 0.028086,
-    "max": 0.112554,
+    "min": 0.030316,
+    "max": 0.127538,
     "recall-0.025": 0.0,
-    "recall-0.05": 0.683438,
+    "recall-0.05": 0.691824,
     "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": 0.368305,
-    "ap-0.1": 0.705194,
-    "ap-0.15": 0.717796,
-    "ap-0.25": 0.717796,
-    "ap-0.5": 0.717796
+    "ap-0.05": 0.384039,
+    "ap-0.1": 0.73051,
+    "ap-0.15": 0.74458,
+    "ap-0.25": 0.74458,
+    "ap-0.5": 0.74458
   },
   "head": {
     "count": 477,
-    "mean": 0.05322,
-    "median": 0.049277,
-    "std": 0.024056,
-    "sem": 0.001103,
-    "min": 0.005257,
-    "max": 0.129773,
-    "recall-0.025": 0.081761,
-    "recall-0.05": 0.513627,
-    "recall-0.1": 0.937107,
-    "recall-0.15": 1.0,
+    "mean": 0.053989,
+    "median": 0.050508,
+    "std": 0.02435,
+    "sem": 0.001116,
+    "min": 0.005008,
+    "max": 0.184738,
+    "recall-0.025": 0.083857,
+    "recall-0.05": 0.492662,
+    "recall-0.1": 0.9413,
+    "recall-0.15": 0.995807,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "shoulder_left": {
     "count": 477,
-    "mean": 0.043047,
-    "median": 0.038537,
-    "std": 0.020189,
-    "sem": 0.000925,
-    "min": 0.001732,
-    "max": 0.136917,
-    "recall-0.025": 0.155136,
-    "recall-0.05": 0.710692,
-    "recall-0.1": 0.987421,
+    "mean": 0.042492,
+    "median": 0.03748,
+    "std": 0.020389,
+    "sem": 0.000935,
+    "min": 0.003386,
+    "max": 0.136857,
+    "recall-0.025": 0.167715,
+    "recall-0.05": 0.721174,
+    "recall-0.1": 0.991614,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -354,15 +384,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_right": {
     "count": 477,
-    "mean": 0.050353,
-    "median": 0.046477,
-    "std": 0.023699,
-    "sem": 0.001086,
-    "min": 0.007115,
-    "max": 0.13734,
-    "recall-0.025": 0.109015,
-    "recall-0.05": 0.553459,
-    "recall-0.1": 0.951782,
+    "mean": 0.049854,
+    "median": 0.046609,
+    "std": 0.023042,
+    "sem": 0.001056,
+    "min": 0.00538,
+    "max": 0.1479,
+    "recall-0.025": 0.102725,
+    "recall-0.05": 0.54717,
+    "recall-0.1": 0.955975,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -370,15 +400,15 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_left": {
     "count": 477,
-    "mean": 0.041709,
-    "median": 0.032985,
-    "std": 0.029126,
-    "sem": 0.001335,
-    "min": 0.004723,
-    "max": 0.320436,
-    "recall-0.025": 0.301887,
-    "recall-0.05": 0.742138,
-    "recall-0.1": 0.953878,
+    "mean": 0.040846,
+    "median": 0.032231,
+    "std": 0.02937,
+    "sem": 0.001346,
+    "min": 0.003899,
+    "max": 0.326622,
+    "recall-0.025": 0.29979,
+    "recall-0.05": 0.754717,
+    "recall-0.1": 0.951782,
     "recall-0.15": 0.997904,
     "recall-0.25": 0.997904,
     "recall-0.5": 1.0,
@@ -386,63 +416,63 @@ Results of the model in various experiments on different datasets. \
   },
   "elbow_right": {
     "count": 477,
-    "mean": 0.053417,
-    "median": 0.045563,
-    "std": 0.040741,
-    "sem": 0.001867,
-    "min": 0.0018,
-    "max": 0.236595,
-    "recall-0.025": 0.262055,
-    "recall-0.05": 0.555556,
-    "recall-0.1": 0.895178,
-    "recall-0.15": 0.958071,
+    "mean": 0.05353,
+    "median": 0.045193,
+    "std": 0.0412,
+    "sem": 0.001888,
+    "min": 0.002659,
+    "max": 0.240424,
+    "recall-0.025": 0.266247,
+    "recall-0.05": 0.559748,
+    "recall-0.1": 0.897275,
+    "recall-0.15": 0.953878,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "wrist_left": {
     "count": 477,
-    "mean": 0.060252,
-    "median": 0.053791,
-    "std": 0.039408,
-    "sem": 0.001806,
-    "min": 0.002539,
-    "max": 0.319587,
-    "recall-0.025": 0.142558,
-    "recall-0.05": 0.42348,
-    "recall-0.1": 0.897275,
-    "recall-0.15": 0.960168,
-    "recall-0.25": 0.991614,
+    "mean": 0.060767,
+    "median": 0.054348,
+    "std": 0.040627,
+    "sem": 0.001862,
+    "min": 0.002997,
+    "max": 0.314436,
+    "recall-0.025": 0.129979,
+    "recall-0.05": 0.398323,
+    "recall-0.1": 0.903564,
+    "recall-0.15": 0.958071,
+    "recall-0.25": 0.987421,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "wrist_right": {
     "count": 477,
-    "mean": 0.059418,
-    "median": 0.055276,
-    "std": 0.033082,
-    "sem": 0.001516,
-    "min": 0.007955,
-    "max": 0.343421,
-    "recall-0.025": 0.098532,
-    "recall-0.05": 0.417191,
-    "recall-0.1": 0.907757,
-    "recall-0.15": 0.985325,
+    "mean": 0.059355,
+    "median": 0.054084,
+    "std": 0.033183,
+    "sem": 0.001521,
+    "min": 0.00779,
+    "max": 0.370076,
+    "recall-0.025": 0.113208,
+    "recall-0.05": 0.427673,
+    "recall-0.1": 0.895178,
+    "recall-0.15": 0.979036,
     "recall-0.25": 0.997904,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "hip_left": {
     "count": 477,
-    "mean": 0.049054,
-    "median": 0.042994,
-    "std": 0.026142,
+    "mean": 0.04787,
+    "median": 0.042247,
+    "std": 0.026144,
     "sem": 0.001198,
-    "min": 0.006503,
-    "max": 0.138607,
-    "recall-0.025": 0.165618,
-    "recall-0.05": 0.607966,
-    "recall-0.1": 0.958071,
+    "min": 0.008137,
+    "max": 0.144228,
+    "recall-0.025": 0.184486,
+    "recall-0.05": 0.620545,
+    "recall-0.1": 0.953878,
     "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -450,31 +480,31 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
     "count": 477,
-    "mean": 0.060183,
-    "median": 0.057545,
-    "std": 0.026063,
-    "sem": 0.001195,
-    "min": 0.002817,
-    "max": 0.16289,
-    "recall-0.025": 0.083857,
-    "recall-0.05": 0.33543,
-    "recall-0.1": 0.926625,
-    "recall-0.15": 0.995807,
+    "mean": 0.058046,
+    "median": 0.057109,
+    "std": 0.023584,
+    "sem": 0.001081,
+    "min": 0.00411,
+    "max": 0.13267,
+    "recall-0.025": 0.09434,
+    "recall-0.05": 0.400419,
+    "recall-0.1": 0.945493,
+    "recall-0.15": 1.0,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "knee_left": {
     "count": 477,
-    "mean": 0.040884,
-    "median": 0.038795,
-    "std": 0.024482,
-    "sem": 0.001122,
-    "min": 0.003199,
-    "max": 0.188865,
-    "recall-0.025": 0.251572,
-    "recall-0.05": 0.735849,
-    "recall-0.1": 0.972746,
+    "mean": 0.040469,
+    "median": 0.03773,
+    "std": 0.024313,
+    "sem": 0.001114,
+    "min": 0.004536,
+    "max": 0.192478,
+    "recall-0.025": 0.24109,
+    "recall-0.05": 0.746331,
+    "recall-0.1": 0.974843,
     "recall-0.15": 0.989518,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -482,30 +512,30 @@ Results of the model in various experiments on different datasets. \
   },
   "knee_right": {
     "count": 477,
-    "mean": 0.039962,
-    "median": 0.035624,
-    "std": 0.023542,
-    "sem": 0.001079,
-    "min": 0.006843,
-    "max": 0.188353,
-    "recall-0.025": 0.320755,
-    "recall-0.05": 0.710692,
+    "mean": 0.040311,
+    "median": 0.036374,
+    "std": 0.024063,
+    "sem": 0.001103,
+    "min": 0.005617,
+    "max": 0.185761,
+    "recall-0.025": 0.314465,
+    "recall-0.05": 0.702306,
     "recall-0.1": 0.976939,
-    "recall-0.15": 0.997904,
+    "recall-0.15": 0.995807,
     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "ankle_left": {
     "count": 477,
-    "mean": 0.036684,
-    "median": 0.02754,
-    "std": 0.0311,
-    "sem": 0.001425,
-    "min": 0.005021,
-    "max": 0.212569,
-    "recall-0.025": 0.431866,
-    "recall-0.05": 0.821803,
+    "mean": 0.036229,
+    "median": 0.02751,
+    "std": 0.03096,
+    "sem": 0.001419,
+    "min": 0.004239,
+    "max": 0.222654,
+    "recall-0.025": 0.42348,
+    "recall-0.05": 0.819706,
     "recall-0.1": 0.943396,
     "recall-0.15": 0.983229,
     "recall-0.25": 1.0,
@@ -514,34 +544,320 @@ Results of the model in various experiments on different datasets. \
   },
   "ankle_right": {
     "count": 477,
-    "mean": 0.041044,
-    "median": 0.03031,
-    "std": 0.037716,
-    "sem": 0.001729,
-    "min": 0.001631,
-    "max": 0.268853,
-    "recall-0.025": 0.318658,
-    "recall-0.05": 0.792453,
-    "recall-0.1": 0.928721,
-    "recall-0.15": 0.966457,
-    "recall-0.25": 0.997904,
+    "mean": 0.040924,
+    "median": 0.030993,
+    "std": 0.037966,
+    "sem": 0.00174,
+    "min": 0.000912,
+    "max": 0.286386,
+    "recall-0.025": 0.303983,
+    "recall-0.05": 0.811321,
+    "recall-0.1": 0.930818,
+    "recall-0.15": 0.968553,
+    "recall-0.25": 0.995807,
     "recall-0.5": 1.0,
     "num_labels": 477
   },
   "joint_recalls": {
     "num_labels": 6201,
-    "recall-0.025": 0.20835,
-    "recall-0.05": 0.60845,
-    "recall-0.1": 0.94001,
-    "recall-0.15": 0.98678,
-    "recall-0.25": 0.99871,
+    "recall-0.025": 0.20803,
+    "recall-0.05": 0.61426,
+    "recall-0.1": 0.94243,
+    "recall-0.15": 0.98549,
+    "recall-0.25": 0.99806,
     "recall-0.5": 1.0
   }
 }
 {
   "total_parts": 6678,
-  "correct_parts": 6616,
-  "pcp": 0.990716
+  "correct_parts": 6612,
+  "pcp": 0.990117
+}
+```
+
+### Panoptic
+
+```json
+{
+  "img_loading": 0.0839426,
+  "avg_time_2d": 0.0584538,
+  "avg_time_3d": 0.00197332,
+  "fps": 16.5489
+}
+{
+  "triangulator_calls": 420,
+  "init_time": 2.6119e-05,
+  "undistort_time": 9.24304e-05,
+  "project_time": 6.01094e-08,
+  "match_time": 4.79975e-08,
+  "pairs_time": 0.000163411,
+  "pair_scoring_time": 0.00105603,
+  "grouping_time": 0.000145171,
+  "full_time": 0.000276877,
+  "merge_time": 5.63099e-05,
+  "post_time": 2.89766e-05,
+  "convert_time": 1.36306e-06,
+  "total_time": 0.00184748
+}
+{
+  "person_nums": {
+    "total_frames": 420,
+    "total_labels": 1466,
+    "total_preds": 1603,
+    "considered_empty": 0,
+    "valid_preds": 1462,
+    "invalid_preds": 141,
+    "missing": 4,
+    "invalid_fraction": 0.08796,
+    "precision": 0.91204,
+    "recall": 0.99727,
+    "f1": 0.95275,
+    "non_empty": 1603
+  },
+  "mpjpe": {
+    "count": 1462,
+    "mean": 0.034981,
+    "median": 0.031055,
+    "std": 0.016678,
+    "sem": 0.000436,
+    "min": 0.010964,
+    "max": 0.17508,
+    "recall-0.025": 0.299454,
+    "recall-0.05": 0.841746,
+    "recall-0.1": 0.992497,
+    "recall-0.15": 0.995907,
+    "recall-0.25": 0.997271,
+    "recall-0.5": 0.997271,
+    "num_labels": 1466,
+    "ap-0.025": 0.155164,
+    "ap-0.05": 0.770059,
+    "ap-0.1": 0.976266,
+    "ap-0.15": 0.983127,
+    "ap-0.25": 0.986247,
+    "ap-0.5": 0.986247
+  },
+  "nose": {
+    "count": 1461,
+    "mean": 0.015025,
+    "median": 0.01129,
+    "std": 0.017594,
+    "sem": 0.00046,
+    "min": 0.001853,
+    "max": 0.275169,
+    "recall-0.025": 0.917293,
+    "recall-0.05": 0.969241,
+    "recall-0.1": 0.992481,
+    "recall-0.15": 0.995899,
+    "recall-0.25": 0.996582,
+    "recall-0.5": 0.998633,
+    "num_labels": 1463
+  },
+  "shoulder_left": {
+    "count": 1462,
+    "mean": 0.016623,
+    "median": 0.014519,
+    "std": 0.010639,
+    "sem": 0.000278,
+    "min": 0.001557,
+    "max": 0.100918,
+    "recall-0.025": 0.843111,
+    "recall-0.05": 0.985675,
+    "recall-0.1": 0.996589,
+    "recall-0.15": 0.997271,
+    "recall-0.25": 0.997271,
+    "recall-0.5": 0.997271,
+    "num_labels": 1466
+  },
+  "shoulder_right": {
+    "count": 1461,
+    "mean": 0.01663,
+    "median": 0.014348,
+    "std": 0.011206,
+    "sem": 0.000293,
+    "min": 0.000751,
+    "max": 0.152125,
+    "recall-0.025": 0.840956,
+    "recall-0.05": 0.984983,
+    "recall-0.1": 0.996587,
+    "recall-0.15": 0.996587,
+    "recall-0.25": 0.99727,
+    "recall-0.5": 0.99727,
+    "num_labels": 1465
+  },
+  "elbow_left": {
+    "count": 1461,
+    "mean": 0.023401,
+    "median": 0.016597,
+    "std": 0.022705,
+    "sem": 0.000594,
+    "min": 0.000894,
+    "max": 0.212038,
+    "recall-0.025": 0.725597,
+    "recall-0.05": 0.905119,
+    "recall-0.1": 0.98157,
+    "recall-0.15": 0.993857,
+    "recall-0.25": 0.99727,
+    "recall-0.5": 0.99727,
+    "num_labels": 1465
+  },
+  "elbow_right": {
+    "count": 1461,
+    "mean": 0.020471,
+    "median": 0.015998,
+    "std": 0.015371,
+    "sem": 0.000402,
+    "min": 0.000892,
+    "max": 0.166452,
+    "recall-0.025": 0.784005,
+    "recall-0.05": 0.93985,
+    "recall-0.1": 0.996582,
+    "recall-0.15": 0.997949,
+    "recall-0.25": 0.998633,
+    "recall-0.5": 0.998633,
+    "num_labels": 1463
+  },
+  "wrist_left": {
+    "count": 1432,
+    "mean": 0.036167,
+    "median": 0.016317,
+    "std": 0.058075,
+    "sem": 0.001535,
+    "min": 0.000818,
+    "max": 0.457564,
+    "recall-0.025": 0.68689,
+    "recall-0.05": 0.847978,
+    "recall-0.1": 0.903766,
+    "recall-0.15": 0.953278,
+    "recall-0.25": 0.974198,
+    "recall-0.5": 0.998605,
+    "num_labels": 1434
+  },
+  "wrist_right": {
+    "count": 1455,
+    "mean": 0.02501,
+    "median": 0.016009,
+    "std": 0.030848,
+    "sem": 0.000809,
+    "min": 0.001026,
+    "max": 0.289014,
+    "recall-0.025": 0.705357,
+    "recall-0.05": 0.901099,
+    "recall-0.1": 0.971841,
+    "recall-0.15": 0.986264,
+    "recall-0.25": 0.994505,
+    "recall-0.5": 0.999313,
+    "num_labels": 1456
+  },
+  "hip_left": {
+    "count": 1461,
+    "mean": 0.036319,
+    "median": 0.031691,
+    "std": 0.021971,
+    "sem": 0.000575,
+    "min": 0.000673,
+    "max": 0.223114,
+    "recall-0.025": 0.32628,
+    "recall-0.05": 0.813652,
+    "recall-0.1": 0.9843,
+    "recall-0.15": 0.993174,
+    "recall-0.25": 0.99727,
+    "recall-0.5": 0.99727,
+    "num_labels": 1465
+  },
+  "hip_right": {
+    "count": 1462,
+    "mean": 0.039558,
+    "median": 0.032541,
+    "std": 0.032576,
+    "sem": 0.000852,
+    "min": 0.003091,
+    "max": 0.466214,
+    "recall-0.025": 0.326739,
+    "recall-0.05": 0.79809,
+    "recall-0.1": 0.957708,
+    "recall-0.15": 0.989768,
+    "recall-0.25": 0.994543,
+    "recall-0.5": 0.997271,
+    "num_labels": 1466
+  },
+  "knee_left": {
+    "count": 1461,
+    "mean": 0.041537,
+    "median": 0.034438,
+    "std": 0.039106,
+    "sem": 0.001023,
+    "min": 0.004038,
+    "max": 0.472281,
+    "recall-0.025": 0.27372,
+    "recall-0.05": 0.782935,
+    "recall-0.1": 0.959727,
+    "recall-0.15": 0.982253,
+    "recall-0.25": 0.988396,
+    "recall-0.5": 0.99727,
+    "num_labels": 1465
+  },
+  "knee_right": {
+    "count": 1454,
+    "mean": 0.039732,
+    "median": 0.031766,
+    "std": 0.030497,
+    "sem": 0.0008,
+    "min": 0.002426,
+    "max": 0.369024,
+    "recall-0.025": 0.332419,
+    "recall-0.05": 0.735435,
+    "recall-0.1": 0.962988,
+    "recall-0.15": 0.989034,
+    "recall-0.25": 0.993146,
+    "recall-0.5": 0.996573,
+    "num_labels": 1459
+  },
+  "ankle_left": {
+    "count": 1457,
+    "mean": 0.070074,
+    "median": 0.036118,
+    "std": 0.081809,
+    "sem": 0.002144,
+    "min": 0.003395,
+    "max": 0.448722,
+    "recall-0.025": 0.336295,
+    "recall-0.05": 0.616541,
+    "recall-0.1": 0.789474,
+    "recall-0.15": 0.86056,
+    "recall-0.25": 0.947368,
+    "recall-0.5": 0.995899,
+    "num_labels": 1463
+  },
+  "ankle_right": {
+    "count": 1452,
+    "mean": 0.070754,
+    "median": 0.03316,
+    "std": 0.093813,
+    "sem": 0.002463,
+    "min": 0.001172,
+    "max": 0.470014,
+    "recall-0.025": 0.349315,
+    "recall-0.05": 0.676712,
+    "recall-0.1": 0.806164,
+    "recall-0.15": 0.856849,
+    "recall-0.25": 0.920548,
+    "recall-0.5": 0.994521,
+    "num_labels": 1460
+  },
+  "joint_recalls": {
+    "num_labels": 18990,
+    "recall-0.025": 0.5723,
+    "recall-0.05": 0.8425,
+    "recall-0.1": 0.94581,
+    "recall-0.15": 0.96835,
+    "recall-0.25": 0.98415,
+    "recall-0.5": 0.99716
+  }
+}
+{
+  "total_parts": 20444,
+  "correct_parts": 20126,
+  "pcp": 0.984445
 }
 ```
 
@@ -551,10 +867,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
-  "img_loading": 0.026904404790777908,
-  "avg_time_2d": 0.024324122228120502,
-  "avg_time_3d": 0.0007598211890772769,
-  "avg_fps": 39.866139999119554
+  "img_loading": 0.0400008,
+  "avg_time_2d": 0.01979,
+  "avg_time_3d": 0.000363116,
+  "fps": 49.6202
+}
+{
+  "triangulator_calls": 200,
+  "init_time": 1.21408e-05,
+  "undistort_time": 7.16068e-05,
+  "project_time": 4.383e-08,
+  "match_time": 4.2875e-08,
+  "pairs_time": 3.16908e-05,
+  "pair_scoring_time": 8.60715e-05,
+  "grouping_time": 4.5394e-06,
+  "full_time": 7.9356e-05,
+  "merge_time": 1.16875e-05,
+  "post_time": 1.73255e-05,
+  "convert_time": 3.4991e-07,
+  "total_time": 0.000315377
 }
 {
   "person_nums": {
@@ -573,52 +904,52 @@ Results of the model in various experiments on different datasets. \
   },
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     "recall-0.25": 1.0,
@@ -627,14 +958,14 @@ Results of the model in various experiments on different datasets. \
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     "recall-0.25": 1.0,
@@ -643,30 +974,30 @@ Results of the model in various experiments on different datasets. \
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@@ -675,31 +1006,31 @@ Results of the model in various experiments on different datasets. \
   },
   "wrist_left": {
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+    "recall-0.25": 0.995,
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@@ -707,15 +1038,15 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_left": {
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     "recall-0.5": 1.0,
@@ -723,14 +1054,14 @@ Results of the model in various experiments on different datasets. \
   },
   "hip_right": {
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@@ -739,45 +1070,13 @@ Results of the model in various experiments on different datasets. \
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@@ -785,15 +1084,31 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 200
   },
-  "ankle_right": {
+  "knee_right": {
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+  "ankle_left": {
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@@ -801,20 +1116,36 @@ Results of the model in various experiments on different datasets. \
     "recall-0.5": 1.0,
     "num_labels": 200
   },
+  "ankle_right": {
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+    "mean": 0.01611,
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   "joint_recalls": {
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+    "recall-0.25": 0.99731,
+    "recall-0.5": 0.99962
   }
 }
 {
   "total_parts": 2800,
-  "correct_parts": 2793,
-  "pcp": 0.9975
+  "correct_parts": 2794,
+  "pcp": 0.997857
 }
 ```
 
@@ -822,10 +1153,25 @@ Results of the model in various experiments on different datasets. \
 
 ```json
 {
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-  "avg_time_2d": 0.03872783058568051,
-  "avg_time_3d": 0.0013835317210147255,
-  "avg_fps": 24.93059179476145
+  "img_loading": 0.039975,
+  "avg_time_2d": 0.0325234,
+  "avg_time_3d": 0.000829363,
+  "fps": 29.9825
+}
+{
+  "triangulator_calls": 200,
+  "init_time": 1.26408e-05,
+  "undistort_time": 0.000101041,
+  "project_time": 4.24e-08,
+  "match_time": 5.904e-08,
+  "pairs_time": 5.80284e-05,
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+  "grouping_time": 4.52217e-06,
+  "full_time": 0.000364642,
+  "merge_time": 6.04412e-05,
+  "post_time": 4.96694e-05,
+  "convert_time": 4.16203e-06,
+  "total_time": 0.000761571
 }
 {
   "person_nums": {
@@ -844,69 +1190,69 @@ Results of the model in various experiments on different datasets. \
   },
   "mpjpe": {
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   "eye_left": {
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@@ -914,31 +1260,31 @@ Results of the model in various experiments on different datasets. \
   },
   "ear_left": {
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+    "mean": 0.044159,
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     "recall-0.05": 0.65,
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     "recall-0.5": 1.0,
@@ -946,15 +1292,15 @@ Results of the model in various experiments on different datasets. \
   },
   "shoulder_left": {
     "count": 200,
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-    "recall-0.1": 1.0,
+    "mean": 0.022384,
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+    "std": 0.014571,
+    "sem": 0.001033,
+    "min": 0.00253,
+    "max": 0.118622,
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+    "recall-0.05": 0.95,
+    "recall-0.1": 0.995,
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     "recall-0.25": 1.0,
     "recall-0.5": 1.0,
@@ -962,14 +1308,14 @@ Results of the model in various experiments on different datasets. \
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@@ -3042,49 +3388,49 @@ Results of the model in various experiments on different datasets. \
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+  "correct_parts": 2785,
+  "pcp": 0.994643
 }
 ```