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StereoBM sbm;
sbm.state->SADWindowSize = 5;
sbm.state->numberOfDisparities = 112;  //large baseline
sbm.state->preFilterSize = 5;
sbm.state->preFilterCap = 61;
sbm.state->minDisparity = -39;          // large (30cm) baseline and 36 pixel offset toward
                                        // centerline on each camera (72 pixel preset disparity)
sbm.state->textureThreshold = 507; //there appear to be multiple minima with this function
sbm.state->uniquenessRatio = 0;    //I used 5 with good results with other settings above
sbm.state->speckleWindowSize = 0;  //I used 2 ""
sbm.state->speckleRange = 1;       //I used 9 ""
""