python 深度 视差 计算,OpenCV-从视差图计算实际距离

I have computed disparity map using StereoSGBM algorithm in OpenCV 3.1. I have calibrated stereo camera with small RMS error. And now I want to compute real distance in mm for some points in disparity map.

This seems to be relatively easy problem. From what I understand I can simply use formula

distance = (baseline * focal length) / disparity

where I can use matrix Q (output from stereoRectify). Q[2][3] = focal length, 1/Q[3][2] = baseline.

The computed Q matrix is:

Q: !!opencv-matrix

rows: 4

cols: 4

dt: d

data: [

1., 0., 0., -1.5668458938598633e+02,

0., 1., 0., -1.1948609733581543e+02,

0., 0., 0., 2.3598119491957863e+02,

0., 0., 1.6254073321947445e-02, 0. ]

The problem is that the result does not correspond with the reality. For example, for the camera aimin