Update focal in Q matrix

components/rgbd-sources/src/calibrate.cpp

@@ -119,6 +119,7 @@ void Calibrate::updateCalibration(const ftl::rgbd::Camera &p) {
 	std::pair<Mat, Mat> map1, map2;
 
 	Q_.at<double>(3,2) = 1.0 / p.baseline;
+	Q_.at<double>(2,3) = p.fx;
 
 	initUndistortRectifyMap(M1_, D1_, R1_, P1_, img_size_, CV_32FC1, map1.first, map2.first);
 	initUndistortRectifyMap(M2_, D2_, R2_, P2_, img_size_, CV_32FC1, map1.second, map2.second);