From e8cb67572a7cb8a03a7ddc77b3c1e4e15d3aa7bb Mon Sep 17 00:00:00 2001
From: Michael Firman <mfirman@nianticlabs.com>
Date: Wed, 23 May 2018 16:03:21 +0100
Subject: [PATCH] Bugfix to allow adjust3rdMatrix to be run

---
 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 6e433106fb..5de4db9959 100644
--- a/modules/calib3d/src/calibration.cpp
+++ b/modules/calib3d/src/calibration.cpp
@@ -3889,7 +3889,7 @@ float cv::rectify3Collinear( InputArray _cameraMatrix1, InputArray _distCoeffs1,
     P3.at<double>(0,3) *= P3.at<double>(0,0);
     P3.at<double>(1,3) *= P3.at<double>(1,1);
 
-    if( !_imgpt1.empty() && _imgpt3.empty() )
+    if( !_imgpt1.empty() && !_imgpt3.empty() )
         adjust3rdMatrix(_imgpt1, _imgpt3, _cameraMatrix1.getMat(), _distCoeffs1.getMat(),
                         _cameraMatrix3.getMat(), _distCoeffs3.getMat(), _Rmat1.getMat(), R3, P1, P3);