Could I get the real depth from your 2D-2D matching?

[SZChang]

Hi, thank you for your amazing job!
Could I get the real depth from your 2D-2D matching?
If I input 2 images from a stereo camera(like self-driving), according ‘real_depth = (baseline × focal) / disparity’, is that meaning the answear of title is right?
And if I input 5 images, for some reason, I want to see all matching between each images pair(for example, img2 and img5), could you tell me how to modify you code to achieve that?(I modfied the code of "Usage" of ReadMe, however, the matchings are same for all image pair...)
Thank you!