From 1a1cf5f672bb8d581ca16c45af1c59b2f52449a3 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 21 Jul 2016 12:40:25 -0400
Subject: [PATCH] Freenect2: Fixed initRectifyMap error with custom calibration

---
 corelib/src/CameraRGBD.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/corelib/src/CameraRGBD.cpp b/corelib/src/CameraRGBD.cpp
index 43606822..914984c4 100644
--- a/corelib/src/CameraRGBD.cpp
+++ b/corelib/src/CameraRGBD.cpp
@@ -1272,9 +1272,10 @@ bool CameraFreenect2::init(const std::string & calibrationFolder, const std::str
 				const CameraModel & l = stereoModel_.left();
 				const CameraModel & r = stereoModel_.right();
 				stereoModel_ = StereoCameraModel(stereoModel_.name(),
-						depthSize, l.K(), l.D(), l.R(), depthP,
-						colorSize, r.K(), r.D(), r.R(), colorP,
+						depthSize, l.K_raw(), l.D_raw(), l.R(), depthP,
+						colorSize, r.K_raw(), r.D_raw(), r.R(), colorP,
 						stereoModel_.R(), stereoModel_.T(), stereoModel_.E(), stereoModel_.F());
+				stereoModel_.initRectificationMap();
 			}
 		}