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You need to pass those left and right images through undistort and rectification so they are isopolar, before sending them through the SBM_Sample.cpp code. Start reading here: Camera Calibration and 3D Reconstruction

You need to pass those left and right images through undistort and rectification so they are isopolar, epipolar, before sending them through the SBM_Sample.cpp code. Start reading here: Camera Calibration and 3D Reconstruction