From d5943d73ac5bf6516d786f05f1ffad7f167da309 Mon Sep 17 00:00:00 2001
From: Samuel Audet <samuel.audet@gmail.com>
Date: Tue, 26 Apr 2022 09:02:01 +0900
Subject: [PATCH]  * Fix incorrect call to `opencv_calib3d.stereoRectify()` in
 `ProjectiveDevice` (issue #1802)

---
 CHANGELOG.md                                            | 1 +
 src/main/java/org/bytedeco/javacv/ProjectiveDevice.java | 4 ++--
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index d8a2d5c2..a252a6d4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,5 @@
 
+ * Fix incorrect call to `opencv_calib3d.stereoRectify()` in `ProjectiveDevice` ([issue #1802](https://github.com/bytedeco/javacv/issues/1802))
  * Retry after 10 ms when `av_read_frame()` returns `EAGAIN` in `FFmpegFrameGrabber.grabFrame()` ([issue #1784](https://github.com/bytedeco/javacv/issues/1784))
  * Append `frame_rate=%d/%d` input parameter in `FFmpegFrameFilter` as required by `xfade` ([issue #1776](https://github.com/bytedeco/javacv/issues/1776))
  * Update `FFmpegStreamingTimeout` sample to use `timeout` instead of `stimeout` for RTSP ([pull #1758](https://github.com/bytedeco/javacv/pull/1758))
diff --git a/src/main/java/org/bytedeco/javacv/ProjectiveDevice.java b/src/main/java/org/bytedeco/javacv/ProjectiveDevice.java
index 5803de27..8d10c447 100644
--- a/src/main/java/org/bytedeco/javacv/ProjectiveDevice.java
+++ b/src/main/java/org/bytedeco/javacv/ProjectiveDevice.java
@@ -737,8 +737,8 @@ public CvMat getRectifyingHomography(ProjectiveDevice peer, CvMat H) {
         CvMat R2 = R23x3.get(); CvMat P2 = P23x4.get();
         Size imageSize = new Size((peer.imageWidth  + imageWidth )/2,
                                   (peer.imageHeight + imageHeight)/2); // ?
-        stereoRectify(cvarrToMat(peer.cameraMatrix),     cvarrToMat(cameraMatrix),
-                      cvarrToMat(peer.distortionCoeffs), cvarrToMat(distortionCoeffs),
+        stereoRectify(cvarrToMat(peer.cameraMatrix), cvarrToMat(peer.distortionCoeffs),
+                      cvarrToMat(     cameraMatrix), cvarrToMat(     distortionCoeffs),
                       imageSize, cvarrToMat(relativeR), cvarrToMat(relativeT),
                       cvarrToMat(R1), cvarrToMat(R2), cvarrToMat(P1), cvarrToMat(P2),
                       new Mat(), 0, -1, new Size(), null, null);