From 1ce5a724c73b26c4ec40f11c53eec22ac27b5031 Mon Sep 17 00:00:00 2001
From: Vitaly Tuzov <vitaly.tuzov@intel.com>
Date: Thu, 24 Oct 2019 17:54:49 +0300
Subject: [PATCH] Fixed StereoBM uniqueness check

---
 modules/calib3d/src/stereobm.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/modules/calib3d/src/stereobm.cpp b/modules/calib3d/src/stereobm.cpp
index 028ba6cac8..a7c7bfd849 100644
--- a/modules/calib3d/src/stereobm.cpp
+++ b/modules/calib3d/src/stereobm.cpp
@@ -558,7 +558,10 @@ static void findStereoCorrespondenceBM_SIMD( const Mat& left, const Mat& right,
                 {
                     v_int32 sad4_l = vx_load_expand((short*)sad + d);
                     if (v_check_any((thresh4 > sad4_l) & ((d1 > d4) | (d4 > d2))))
+                    {
+                        dptr[y*dstep] = FILTERED;
                         continue;
+                    }
                     d += v_int16::nlanes;
                 }
                 for( ; d < ndisp; d++ )