From 3b5b20b795bf2dd4f71a869f19486e7d8afd65ca Mon Sep 17 00:00:00 2001
From: Ilya Lysenkov <no@email>
Date: Tue, 27 Mar 2012 15:02:53 +0000
Subject: [PATCH] Fixed wrong computation of a reprojection matrix Q in
 stereoRectify (#898)

---
 modules/calib3d/src/calibration.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/modules/calib3d/src/calibration.cpp b/modules/calib3d/src/calibration.cpp
index 495cc8c..2785fc3 100644
--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -2524,7 +2524,7 @@ void cvStereoRectify( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
             1, 0, 0, -cc_new[0].x,
             0, 1, 0, -cc_new[0].y,
             0, 0, 0, fc_new,
-            0, 0, 1./_t[idx],
+            0, 0, -1./_t[idx],
             (idx == 0 ? cc_new[0].x - cc_new[1].x : cc_new[0].y - cc_new[1].y)/_t[idx]
         };
         CvMat Q = cvMat(4, 4, CV_64F, q);
-- 
2.7.4