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You have an example [here]https://github.com/opencv/opencv/blob/master/samples/cpp/stereo_calib.cpp) about stereocalibration and here about stereo algorithm. Some tutorials about calibration :

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"Do I need to normalize the disparity map?" No It will change unit. Now if you use stereobm or stereosgbmwith default parameter disparity is coded in CV_16S (short). But 17 in disparity map means 17/16 of pixel. You ghave to divide disparyt map by 16 before using reprojectImageTo3D