From 0dd7f5aedccace24f19b4cb12ef9216c486c0ef2 Mon Sep 17 00:00:00 2001
From: sergionegri <sergionegri@users.noreply.github.com>
Date: Fri, 17 May 2019 00:03:46 +0200
Subject: [PATCH] Improved 3d triangulation and [fix] returns new
 bestReprojectionError when camera removed (#904)

---
 src/openpose/3d/poseTriangulation.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/openpose/3d/poseTriangulation.cpp b/src/openpose/3d/poseTriangulation.cpp
index 30596399..ec6837b6 100644
--- a/src/openpose/3d/poseTriangulation.cpp
+++ b/src/openpose/3d/poseTriangulation.cpp
@@ -196,7 +196,7 @@ namespace op
                         && projectionErrorSubset < 1.1 * projectionError)
                     {
                         bestReprojectionIndex = -1;
-                        break;
+                        continue;
                     }
                     // Save maximum
                     if (bestReprojection > projectionErrorSubset)
@@ -212,6 +212,7 @@ namespace op
                     cameraMatricesFinal.erase(cameraMatricesFinal.begin() + bestReprojectionIndex);
                     pointsOnEachCameraFinal.erase(pointsOnEachCameraFinal.begin() + bestReprojectionIndex);
                 }
+		projectionError = bestReprojection; // updates the projection error with the best found after camera removal
             }
 
             #ifdef USE_CERES
-- 
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