# Calculating distance from the pixel value of a disparity map

Hi,

I have been looking for a simple solution for a while, but haven't come across anything so..

I have generated a disparity map using the OpenCV StereoBM and StereoSGBM functions and a pair of cameras. I have all of the camera parameters generated by stereo_calib. Is there a fairly straightforward way to calculate the distance using all of this information given the grayscale value of the pixel?

Thanks