The rectified images have black borders

[xulinkun007]

The rectified images have black borders. I fixed this by doing inverse R and T when calling stereoRectify in calibration.hpp. I use factory default camera parameters.
cv::stereoRectify(cameraMatrix_left, distCoeffs_left, cameraMatrix_right, distCoeffs_right, image_size, R.inv(), -T, R1, R2, P1, P2, Q, cv::CALIB_ZERO_DISPARITY, 0, image_size);