diff --git a/modules/3d/include/opencv2/3d/depth.hpp b/modules/3d/include/opencv2/3d/depth.hpp
index 735bfe4a7a..c0150384d4 100644
--- a/modules/3d/include/opencv2/3d/depth.hpp
+++ b/modules/3d/include/opencv2/3d/depth.hpp
@@ -132,12 +132,11 @@ CV_EXPORTS_W void rescaleDepth(InputArray in, int type, OutputArray out, double
  * @param mask The mask of used pixels (of CV_8UC1), it can be empty
  * @param Rt The transformation that will be applied to the 3d points computed from the depth
  * @param cameraMatrix Camera matrix
- * @param distCoeff Distortion coefficients
  * @param warpedImage The warped image.
  * @param warpedDepth The warped depth.
  * @param warpedMask The warped mask.
  */
-CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
+CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix,
                             OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
 
 enum RgbdPlaneMethod
diff --git a/modules/3d/src/rgbd/odometry.cpp b/modules/3d/src/rgbd/odometry.cpp
index 6fc24d5175..a8ae22721b 100644
--- a/modules/3d/src/rgbd/odometry.cpp
+++ b/modules/3d/src/rgbd/odometry.cpp
@@ -365,7 +365,7 @@ bool Odometry::compute(InputArray srcDepthFrame, InputArray srcRGBFrame,
 template<class ImageElemType>
 static void
 warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
-              const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff,
+              const Mat& Rt, const Mat& cameraMatrix,
               OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
 {
     //TODO: take into account that image can be empty
@@ -394,7 +394,7 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
     Mat transformedCloud;
     perspectiveTransform(cloud3, transformedCloud, Rt);
     projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
-                  distCoeff, points2d);
+                  Mat::zeros(1, 5, CV_64FC1), points2d);
 
     Mat image = _image.getMat();
     Size sz = _image.size();
@@ -437,14 +437,14 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
 
 
 void warpFrame(InputArray image, InputArray depth, InputArray mask,
-               InputArray Rt, InputArray cameraMatrix, InputArray distCoeff,
+               InputArray Rt, InputArray cameraMatrix,
                OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
 {
     if (image.type() == CV_8UC1)
-        warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
+        warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
                              warpedImage, warpedDepth, warpedMask);
     else if (image.type() == CV_8UC3)
-        warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(),
+        warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
                                       warpedImage, warpedDepth, warpedMask);
     else
         CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3");