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The depthMat.jpg is not black, it shows a variety of depths for the object. It's just all the values are near 0 and only about 2.5% of full scale. I'd try something like:

...
disp_gpu.download(depthMat);
depthMat = depthMat * (255.0 / nD);
imshow("windowDisparity", depthMat);
...

The depthMat.jpg is not black, it shows a variety of depths for the object. It's just all the values are near 0 and only about 2.5% 4% of full scale. I'd try something like:

...
disp_gpu.download(depthMat);
depthMat = depthMat * (255.0 / nD);
imshow("windowDisparity", depthMat);
...