diff --git a/rpt/triangulator.cpp b/rpt/triangulator.cpp
index 005bcb1..25cbf47 100644
--- a/rpt/triangulator.cpp
+++ b/rpt/triangulator.cpp
@@ -711,8 +711,8 @@ std::vector<std::vector<std::array<float, 4>>> TriangulatorInternal::triangulate
     {
         const auto [i, j, k, l] = indices[e];
 
-        int pid1 = num_persons_sum[i] + k;
-        int pid2 = num_persons_sum[k] + l;
+        int pid1 = (i > 0 ? num_persons_sum[i - 1] : 0) + k;
+        int pid2 = (j > 0 ? num_persons_sum[j - 1] : 0) + l;
         bool match = false;
 
         if (!last_poses_3d.empty())
@@ -1500,8 +1500,6 @@ std::pair<std::vector<std::array<float, 4>>, float> TriangulatorInternal::triang
     }
 
     // Drop lowest scores
-    size_t drop_k = static_cast<size_t>(num_joints * 0.2);
-    const size_t min_k = 3;
     std::vector<float> valid_scores;
     for (size_t i = 0; i < num_joints; ++i)
     {
@@ -1511,9 +1509,9 @@ std::pair<std::vector<std::array<float, 4>>, float> TriangulatorInternal::triang
         }
     }
     size_t scores_size = valid_scores.size();
-    if (scores_size >= min_k)
+    size_t drop_k = static_cast<size_t>(scores_size * 0.2);
+    if (drop_k > 0)
     {
-        drop_k = std::min(drop_k, scores_size - min_k);
         std::partial_sort(valid_scores.begin(), valid_scores.begin() + drop_k, valid_scores.end());
         valid_scores.erase(valid_scores.begin(), valid_scores.begin() + drop_k);
     }