From b362affd1360882a5ca16fea3b2069d3d4c5adbf Mon Sep 17 00:00:00 2001
From: Ivan Korolev <ivan.korolev@itseez.com>
Date: Wed, 30 Jan 2013 13:10:50 +0400
Subject: [PATCH] Fixed bug in the cv::estimateRigidTransform (#1949)

---
 modules/video/src/lkpyramid.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/modules/video/src/lkpyramid.cpp b/modules/video/src/lkpyramid.cpp
index bad555862..d05c5fd9c 100644
--- a/modules/video/src/lkpyramid.cpp
+++ b/modules/video/src/lkpyramid.cpp
@@ -1911,8 +1911,11 @@ cv::Mat cv::estimateRigidTransform( InputArray src1,
 {
     Mat M(2, 3, CV_64F), A = src1.getMat(), B = src2.getMat();
     CvMat matA = A, matB = B, matM = M;
-    cvEstimateRigidTransform(&matA, &matB, &matM, fullAffine);
-    return M;
+    int err = cvEstimateRigidTransform(&matA, &matB, &matM, fullAffine);
+    if (err == 1)
+        return M;
+    else
+        return Mat();
 }
 
 /* End of file. */