diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
index b9f0b1a36390c496fa76095d476f0fcfdf8b0518..a9395664c35c3253875855ea2dd68bb87f1026d1 100644
--- a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
@@ -91,9 +91,9 @@ void StereoRectification::calculateParameters() {
 	// calculate rotation and translation from left to right using calibration
 	cv::Mat T_l = calib_left_.extrinsic.matrix();
 	cv::Mat T_r = calib_right_.extrinsic.matrix();
-	cv::Mat T = T_r * T_l;
-	cv::Mat R;
-	cv::Mat t;
+	cv::Mat T = T_l * transform::inverse(T_r);
+	cv::Mat R, t;
+
 	transform::getRotationAndTranslation(T, R, t);
 	baseline_ = cv::norm(t);