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I think that what you are trying to accomplish by:

disparity.convertTo(disparity32, CV_32F);
bringWithinRange(disparity.ptr(), disparity32.ptr(), disparity.cols, disparity.rows, min_disp, num_disp);
namedWindow("Disparity", 0);
imshow("disparity", disparity32);

Can be accomplished simply by this:

disparity.convertTo(disparity8, CV_8U, 255/(num_disp*16.));
namedWindow("Disparity", 0);
imshow("disparity", disparity8);