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I think the noise in the image is the main cause of the poor results. Especially with a small block size (2), it will give you almost random results in many areas.

Also stereo matching on a surface like the white board on the left or even the wall are very hard. Because it almost matches with all pixels in the neigbourhood.

First suggestion is to try to use a well-illuminated environment, even most cheap cameras are doing okay when the light conditions are good (in your image that doesn't look good), maybe try it outdoors?

I think the noise in the image is the main cause of the poor results. Especially with a small block size (2), it will give you almost random results in many areas.

Also stereo matching on a surface like the white board on the left or even the wall are very hard. Because it matches almost matches with all pixels in the neigbourhood.neighborhood.

First suggestion is to try to use a well-illuminated environment, even most cheap cameras are doing okay when the light conditions are good (in your image that doesn't look good), maybe try it outdoors?