title: Stereo Disparity map generation
body: <p>I am working on KITTI data set i am taking 2 images and finding the disparity to get 3D point cloud .The problem which i am facing is that i am not able to get a good disparity map.Most of the disparity value is less than 0.1 .The disparity values are between 0 to 1 (do i need to scale them).
  The parameters of my stereo are listed below</p>
  
  <pre><code>cv::StereoBM sbm;
      sbm.state-&gt;SADWindowSize = 9;
      sbm.state-&gt;numberOfDisparities = 112;
      sbm.state-&gt;preFilterSize = 5;
      sbm.state-&gt;preFilterCap = 1;
      sbm.state-&gt;minDisparity = 0;
      sbm.state-&gt;textureThreshold = 5;
      sbm.state-&gt;uniquenessRatio = 5;
      sbm.state-&gt;speckleWindowSize = 0;
      sbm.state-&gt;speckleRange = 20;
      sbm.state-&gt;disp12MaxDiff = 64;
  sbm(leftimage, rightimage,disp);
      normalize(disp, disp8, 0.1, 255, CV_MINMAX, CV_8U);
  </code></pre>
  
  <p><img src="https://i.stack.imgur.com/SlADc.png" alt="right image">
  <img src="https://i.stack.imgur.com/6pVCP.png" alt="left image">
  <img src="https://i.stack.imgur.com/T1aRT.png" alt="Disparity map"></p>