diff --git a/modules/cudalegacy/src/calib3d.cpp b/modules/cudalegacy/src/calib3d.cpp
index b58ca3a98d..03d05be045 100644
--- a/modules/cudalegacy/src/calib3d.cpp
+++ b/modules/cudalegacy/src/calib3d.cpp
@@ -283,7 +283,7 @@ void cv::cuda::solvePnPRansac(const Mat& object, const Mat& image, const Mat& ca
             p_transf.z = rot[6] * p.x + rot[7] * p.y + rot[8] * p.z + transl[2];
             p_proj.x = p_transf.x / p_transf.z;
             p_proj.y = p_transf.y / p_transf.z;
-            if (norm(p_proj - image_normalized.at<Point2f>(0, i)) < max_dist)
+            if (norm(p_proj - image_normalized.at<Point2f>(i)) < max_dist)
                 inliers->push_back(i);
         }
     }