From 7d8110772a44a1d8900e1ed81ec6abacd019d5af Mon Sep 17 00:00:00 2001
From: James Perkins <james@loowit.net>
Date: Thu, 5 Oct 2017 15:42:20 -0700
Subject: [PATCH] fix StereoBM disparity map right margin truncation when
 minDisparities > 0

---
 modules/calib3d/src/stereosgbm.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/modules/calib3d/src/stereosgbm.cpp b/modules/calib3d/src/stereosgbm.cpp
index 4c8adb9f9d..2358c31d8e 100644
--- a/modules/calib3d/src/stereosgbm.cpp
+++ b/modules/calib3d/src/stereosgbm.cpp
@@ -864,10 +864,10 @@ Rect getValidDisparityROI( Rect roi1, Rect roi2,
                           int SADWindowSize )
 {
     int SW2 = SADWindowSize/2;
-    int minD = minDisparity, maxD = minDisparity + numberOfDisparities - 1;
+    int maxD = minDisparity + numberOfDisparities - 1;
 
     int xmin = max(roi1.x, roi2.x + maxD) + SW2;
-    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width - minD) - SW2;
+    int xmax = min(roi1.x + roi1.width, roi2.x + roi2.width) - SW2;
     int ymin = max(roi1.y, roi2.y) + SW2;
     int ymax = min(roi1.y + roi1.height, roi2.y + roi2.height) - SW2;