diff --git a/modules/stereo/src/descriptor.hpp b/modules/stereo/src/descriptor.hpp
index 7119cb8d5..67476bfbd 100644
--- a/modules/stereo/src/descriptor.hpp
+++ b/modules/stereo/src/descriptor.hpp
@@ -71,6 +71,7 @@ namespace cv
                 }
                 stop = num_images;
             }
+
             void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
             {
                 CV_UNUSED(w2);
@@ -78,17 +79,18 @@ namespace cv
                 {
                     if (image[i][rrWidth + jj] > image[i][rWidth + j])
                     {
-                        c[i] = c[i] + 1;
+                        c[i] += 1;
                     }
-                    c[i] = c[i] << 1;
+                    c[i] <<= 1;
                     if (integralImage[i][rrWidth + jj] > image[i][rWidth + j])
                     {
-                        c[i] = c[i] + 1;
+                        c[i] += 1;
                     }
-                    c[i] = c[i] << 1;
+                    c[i] <<= 1;
                 }
             }
         };
+
         //!Compares pixels from a patch giving high weights to pixels in which
         //!the intensity is higher. The other pixels receive a lower weight
         template <int num_images>
@@ -106,22 +108,21 @@ namespace cv
                 imageStop = num_images;
                 t = threshold;
             }
+
             void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
             {
                 CV_UNUSED(w2);
                 for(int i = 0; i < imageStop; i++)
                 {
-                    if (image[i][rrWidth + jj] > image[i][rWidth + j] - t)
+                    if (image[i][rrWidth + jj] > image[i][rWidth + j] + t)
                     {
-                        c[i] = c[i] << 1;
-                        c[i] = c[i] + 1;
-                        c[i] = c[i] << 1;
-                        c[i] = c[i] + 1;
+                        c[i] <<= 2;
+                        c[i] |= 0x11;
                     }
-                    else if (image[i][rWidth + j] - t < image[i][rrWidth + jj] && image[i][rWidth + j] + t >= image[i][rrWidth + jj])
+                    else if (image[i][rrWidth + jj] > image[i][rWidth + j] - t)
                     {
-                        c[i] = c[i] << 2;
-                        c[i] = c[i] + 1;
+                        c[i] <<= 2;
+                        c[i] |= 0x01;
                     }
                     else
                     {
@@ -130,6 +131,7 @@ namespace cv
                 }
             }
         };
+
         //!A madified cs census that compares a pixel with the imediat neightbour starting
         //!from the center
         template<int num_images>
@@ -146,6 +148,7 @@ namespace cv
                 imageStop = num_images;
                 n2 = ker;
             }
+
             void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
             {
                 CV_UNUSED(j);
@@ -154,12 +157,13 @@ namespace cv
                 {
                     if (image[i][(rrWidth + jj)] > image[i][(w2 + (jj + n2))])
                     {
-                        c[i] = c[i] + 1;
+                        c[i] += 1;
                     }
-                    c[i] = c[i] * 2;
+                    c[i] <<= 1;
                 }
             }
         };
+
         //!A kernel in which a pixel is compared with the center of the window
         template<int num_images>
         struct CensusKernel
@@ -173,6 +177,7 @@ namespace cv
                     image[i] = images[i];
                 imageStop = num_images;
             }
+
             void operator()(int rrWidth,int w2, int rWidth, int jj, int j, int c[num_images]) const
             {
                 CV_UNUSED(w2);
@@ -187,6 +192,7 @@ namespace cv
                 }
             }
         };
+
         //template clas which efficiently combines the descriptors
         template <int step_start, int step_end, int step_inc,int nr_img, typename Kernel>
         class CombinedDescriptor:public ParallelLoopBody
@@ -209,6 +215,7 @@ namespace cv
                 kernel_ = kernel;
                 n2_stop = k2Stop;
             }
+
             void operator()(const cv::Range &r) const CV_OVERRIDE {
                 for (int i = r.start; i < r.end ; i++)
                 {
@@ -245,6 +252,7 @@ namespace cv
                 }
             }
         };
+
         //!implementation for the star kernel descriptor
         template<int num_images>
         class StarKernelCensus:public ParallelLoopBody
@@ -267,6 +275,7 @@ namespace cv
                 im_num = num_images;
                 stride_ = (int)img[0].step;
             }
+
             void operator()(const cv::Range &r) const CV_OVERRIDE {
                 for (int i = r.start; i < r.end; i++)
                 {
@@ -342,6 +351,7 @@ namespace cv
                 }
             }
         };
+
         //!paralel implementation of the center symetric census
         template <int num_images>
         class SymetricCensus:public ParallelLoopBody
@@ -364,6 +374,7 @@ namespace cv
                 im_num = num_images;
                 stride_ = (int)img[0].step;
             }
+
             void operator()(const cv::Range &r) const CV_OVERRIDE {
                 for (int i = r.start; i < r.end ; i++)
                 {
diff --git a/modules/stereo/src/stereo_binary_bm.cpp b/modules/stereo/src/stereo_binary_bm.cpp
index ba4cb007e..a4c31d472 100644
--- a/modules/stereo/src/stereo_binary_bm.cpp
+++ b/modules/stereo/src/stereo_binary_bm.cpp
@@ -393,7 +393,7 @@ namespace cv
                 {
                     starCensusTransform(left,right,params.kernelSize,censusImage[0],censusImage[1]);
                 }
-                hammingDistanceBlockMatching(censusImage[0], censusImage[1], hammingDistance);
+                hammingDistanceBlockMatching(censusImage[0], censusImage[1], hammingDistance, params.kernelSize);
                 costGathering(hammingDistance, partialSumsLR);
                 blockAgregation(partialSumsLR, params.agregationWindowSize, agregatedHammingLRCost);
                 dispartyMapFormation(agregatedHammingLRCost, disp0, 3);
diff --git a/modules/stereo/src/stereo_binary_sgbm.cpp b/modules/stereo/src/stereo_binary_sgbm.cpp
index 2b23cccf3..10f3cdb44 100644
--- a/modules/stereo/src/stereo_binary_sgbm.cpp
+++ b/modules/stereo/src/stereo_binary_sgbm.cpp
@@ -679,7 +679,7 @@ namespace cv
                     starCensusTransform(left,right,params.kernelSize,censusImageLeft,censusImageRight);
                 }
 
-                hammingDistanceBlockMatching(censusImageLeft, censusImageRight, hamDist);
+                hammingDistanceBlockMatching(censusImageLeft, censusImageRight, hamDist, params.kernelSize);
 
                 computeDisparityBinarySGBM( left, right, disp, params, buffer,hamDist);
 
@@ -725,7 +725,8 @@ namespace cv
             void setMinDisparity(int minDisparity) CV_OVERRIDE {CV_Assert(minDisparity >= 0); params.minDisparity = minDisparity; }
 
             int getNumDisparities() const CV_OVERRIDE { return params.numDisparities; }
-            void setNumDisparities(int numDisparities) CV_OVERRIDE { CV_Assert(numDisparities > 0); params.numDisparities = numDisparities; }
+            void setNumDisparities(int numDisparities) CV_OVERRIDE { CV_Assert(numDisparities > 0); params.numDisparities = numDisparities;
+                                                                     Matching::setMaxDisparity(numDisparities /*- params.minDisparity*/);}
 
             int getBlockSize() const CV_OVERRIDE { return params.kernelSize; }
             void setBlockSize(int blockSize) CV_OVERRIDE {CV_Assert(blockSize % 2 != 0); params.kernelSize = blockSize; }