Stereo vision: Distance between cameras and object

Example in documentation about stereo vision contains 7th step - Backprojection. Here is calculated distance between cameras and the object but I still don't get it. If I have the camera matrix K (same for both cameras exported from Camera Calibrator), the baseline in millimeters (distance between cameras) and the disparity map (I used function disparity()). How can I calculate distance for each pixel? My results are still wrong.

Answer 1

[Dima Lisin]

If you have the 2014a release, then please take a look at this example .