デプスマップの取得

視差から通常の深度マップを取得できません。これが私のコードです：

#include "opencv2/core/core.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/contrib/contrib.hpp"
#include <cstdio>
#include <iostream>
#include <fstream>

using namespace cv;
using namespace std;

ofstream out("points.txt");

int main()
{
    Mat img1, img2;
    img1 = imread("images/im7rect.bmp");
    img2 = imread("images/im8rect.bmp");

    //resize(img1, img1, Size(320, 280));
    //resize(img2, img2, Size(320, 280));

    Mat g1,g2, disp, disp8;
    cvtColor(img1, g1, CV_BGR2GRAY);
    cvtColor(img2, g2, CV_BGR2GRAY);

    int sadSize = 3;
    StereoSGBM sbm;
    sbm.SADWindowSize = sadSize;
    sbm.numberOfDisparities = 144;//144; 128
    sbm.preFilterCap = 10; //63
    sbm.minDisparity = 0; //-39; 0
    sbm.uniquenessRatio = 10;
    sbm.speckleWindowSize = 100;
    sbm.speckleRange = 32;
    sbm.disp12MaxDiff = 1;
    sbm.fullDP = true;
    sbm.P1 = sadSize*sadSize*4;
    sbm.P2 = sadSize*sadSize*32;
    sbm(g1, g2, disp);

    normalize(disp, disp8, 0, 255, CV_MINMAX, CV_8U);

    Mat dispSGBMscale; 
    disp.convertTo(dispSGBMscale,CV_32F, 1./16); 

    imshow("image", img1);

    imshow("disparity", disp8);

    Mat Q;
    FileStorage fs("Q.txt", FileStorage::READ);
    fs["Q"] >> Q;
    fs.release();

    Mat points, points1;
    //reprojectImageTo3D(disp, points, Q, true);
    reprojectImageTo3D(disp, points, Q, false, CV_32F);
    imshow("points", points);

    ofstream point_cloud_file;
    point_cloud_file.open ("point_cloud.xyz");
    for(int i = 0; i < points.rows; i++) {
        for(int j = 0; j < points.cols; j++) {
            Vec3f point = points.at<Vec3f>(i,j);
            if(point[2] < 10) {
                point_cloud_file << point[0] << " " << point[1] << " " << point[2]
                    << " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << " " << static_cast<unsigned>(img1.at<uchar>(i,j)) << endl;
            }
        }
    }
    point_cloud_file.close(); 

    waitKey(0);

    return 0;
}

私の画像は次のとおりです。

視差マップ：

私はこの点群のようにsmthを取得します：

Qは等しい：[1.、0.、0。、-3.2883545303344727e + 02、0。、1.、0。、-2.3697290992736816e + 02、0。、0.、0.、5.4497170185417110e + 02、0 。、0。、-1.4446083962336606e-02、0。]

私は他の多くのことを試みました。別の画像で試してみましたが、通常の深度マップを取得できません。

What am I doing wrong? Should I do with reprojectImageTo3D or use other approach instead of it? What is the best way to vizualize depth map? (I tried point_cloud library) Or could you provide me the working example with dataset and calibration info, that I could run it and get depth map. Or how can I get depth_map from middlebury stereo database (http://vision.middlebury.edu/stereo/data/), I think there isn't enough calibration info.

Edited: Now I get smth like :

It is of course better, but still not normal.

Edited2: I tried what you say:

Mat disp;
disp = imread("disparity-image.pgm", CV_LOAD_IMAGE_GRAYSCALE);

Mat disp64; 
disp.convertTo(disp64,CV_64F, 1.0/16.0); 
imshow("disp", disp);

I get this result with line cv::minMaxIdx(...) :

And this when I comment this line:

Ps: Also please could you tell me how can I calculate depth knowing only baseline and focal length in pixels.