diff --git a/docs/bundleadjustment.tex b/docs/bundleadjustment.tex
index 1f633616a..ac260a0ec 100644
--- a/docs/bundleadjustment.tex
+++ b/docs/bundleadjustment.tex
@@ -37,9 +37,8 @@ struct SnavelyReprojectionError {
     // Compute the center of distortion. The sign change comes from
     // the camera model that Noah Snavely's Bundler assumes, whereby
     // the camera coordinate system has a negative z axis.
-    const T& focal = camera[6];
-    T xp = - focal * p[0] / p[2];
-    T yp = - focal * p[1] / p[2];
+    T xp = - p[0] / p[2];
+    T yp = - p[1] / p[2];
 
     // Apply second and fourth order radial distortion.
     const T& l1 = camera[7];
@@ -48,8 +47,9 @@ struct SnavelyReprojectionError {
     T distortion = T(1.0) + r2  * (l1 + l2  * r2);
 
     // Compute final projected point position.
-    T predicted_x = distortion * xp;
-    T predicted_y = distortion * yp;
+    const T& focal = camera[6];
+    T predicted_x = focal * distortion * xp;
+    T predicted_y = focal * distortion * yp;
 
     // The error is the difference between the predicted and observed position.
     residuals[0] = predicted_x - T(observed_x);
@@ -98,4 +98,5 @@ ceres::Solve(options, &problem, &summary);
 std::cout << summary.FullReport() << "\n";
 \end{minted}
 
-For a more sophisticated bundle adjustment example which demonstrates the use of Ceres' more advanced features including its  various linear solvers, robust loss functions and local parameterizations see \texttt{examples/bundle\_adjuster.cc}.
\ No newline at end of file
+For a more sophisticated bundle adjustment example which demonstrates the use of Ceres' more advanced features including its  various linear solvers, robust loss functions and local parameterizations see \texttt{examples/bundle\_adjuster.cc}.
+
diff --git a/examples/simple_bundle_adjuster.cc b/examples/simple_bundle_adjuster.cc
index 850690eab..cc6f04adf 100644
--- a/examples/simple_bundle_adjuster.cc
+++ b/examples/simple_bundle_adjuster.cc
@@ -139,9 +139,8 @@ struct SnavelyReprojectionError {
     // Compute the center of distortion. The sign change comes from
     // the camera model that Noah Snavely's Bundler assumes, whereby
     // the camera coordinate system has a negative z axis.
-    const T& focal = camera[6];
-    T xp = - focal * p[0] / p[2];
-    T yp = - focal * p[1] / p[2];
+    T xp = - p[0] / p[2];
+    T yp = - p[1] / p[2];
 
     // Apply second and fourth order radial distortion.
     const T& l1 = camera[7];
@@ -150,8 +149,9 @@ struct SnavelyReprojectionError {
     T distortion = T(1.0) + r2  * (l1 + l2  * r2);
 
     // Compute final projected point position.
-    T predicted_x = distortion * xp;
-    T predicted_y = distortion * yp;
+    const T& focal = camera[6];
+    T predicted_x = focal * distortion * xp;
+    T predicted_y = focal * distortion * yp;
 
     // The error is the difference between the predicted and observed position.
     residuals[0] = predicted_x - T(observed_x);
diff --git a/examples/snavely_reprojection_error.h b/examples/snavely_reprojection_error.h
index eaf412920..070421789 100644
--- a/examples/snavely_reprojection_error.h
+++ b/examples/snavely_reprojection_error.h
@@ -71,8 +71,8 @@ struct SnavelyReprojectionError {
     // the camera model that Noah Snavely's Bundler assumes, whereby
     // the camera coordinate system has a negative z axis.
     const T& focal = camera[6];
-    T xp = - focal * p[0] / p[2];
-    T yp = - focal * p[1] / p[2];
+    T xp = - p[0] / p[2];
+    T yp = - p[1] / p[2];
 
     // Apply second and fourth order radial distortion.
     const T& l1 = camera[7];
@@ -81,8 +81,8 @@ struct SnavelyReprojectionError {
     T distortion = T(1.0) + r2  * (l1 + l2  * r2);
 
     // Compute final projected point position.
-    T predicted_x = distortion * xp;
-    T predicted_y = distortion * yp;
+    T predicted_x = focal * distortion * xp;
+    T predicted_y = focal * distortion * yp;
 
     // The error is the difference between the predicted and observed position.
     residuals[0] = predicted_x - T(observed_x);
@@ -128,16 +128,16 @@ struct SnavelyReprojectionErrorWithQuaternions {
     // Compute the center of distortion. The sign change comes from
     // the camera model that Noah Snavely's Bundler assumes, whereby
     // the camera coordinate system has a negative z axis.
-    T xp = - focal * p[0] / p[2];
-    T yp = - focal * p[1] / p[2];
+    T xp = - p[0] / p[2];
+    T yp = - p[1] / p[2];
 
     // Apply second and fourth order radial distortion.
     T r2 = xp*xp + yp*yp;
     T distortion = T(1.0) + r2  * (l1 + l2  * r2);
 
     // Compute final projected point position.
-    T predicted_x = distortion * xp;
-    T predicted_y = distortion * yp;
+    T predicted_x = focal * distortion * xp;
+    T predicted_y = focal * distortion * yp;
 
     // The error is the difference between the predicted and observed position.
     residuals[0] = predicted_x - T(observed_x);