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Hi,

I dont know if it is late but i can send the settings for sgbm :

sStereo->alg = StereoCameraRig::STEREO_SGBM;
  sStereo->SADWindowSize = 3;
  sStereo->numberOfDisparities = 192;
  sStereo->preFilterCap = 4;
  sStereo->minDisparity = -64;
  sStereo->uniquenessRatio = 1;
  sStereo->speckleWindowSize = 150;
  sStereo->speckleRange = 1;
  sStereo->disp12MaxDiff = 1;
  sStereo->fullDP = false;
  sStereo->P1 = 600;
  sStereo->P2 = 2400;
  sStereo->textureThreshold = 500;

  stRig.CreateUpdateStereoMatcher();

  stRig.getDisparityMap(viewL, viewR, dispMap, false);

  normalize(dispMap, disp8, 0, 255, CV_MINMAX, CV_8U);

  showImage(disp8, true);

In any case i got my tiny shiny disparity map :) but cannot reproject3d as i cannot see any extrinsics files shipped with OpenCV!! (the instrinscs file is 'intrinsics.yml' file if i'm not wrong) Can someone point out where or a better sample maybe?