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looking at this nice page, we get:

D:= Distance of point in real world,
b:= base offset, (the distance *between* your cameras)
f:= focal length of camera, 
d:= disparity:

D = bf/d

looking at this nice page, we get:

D:= Distance of point in real world,
b:= base offset, (the distance *between* your cameras)
f:= focal length of camera, 
d:= disparity:

D = bf/d
b*f/d