how can I measure the distance between a camera and my object in a stereo camera?

I have 2 calibrated stereo cameras and I have been able to construct the disparity maps of the stereo pairs captured. My question is, how can I obtain depth maps from these disparity maps to enable me to estimate the depth of each image pixel? Kindly render assistance, please.

[Florian Morsch]

Maybe this documentation from MATLAB can help you https://de.mathworks.com/help/vision/examples/depth-estimation-from-stereo-video.html