Weird stereo disparity map and point cloud in MATLAB

Question

I am trying to obtain the disparity map and the point cloud from two stereo images contained in the Middlebury dataset, but my results look incorrect.

These are the images from the Middlebury dataset that I am using (imp version):

They come with the following calibration data:

cam0=[4841.191 0 1441.607; 0 4841.191 969.311; 0 0 1]
cam1=[4841.191 0 1598.24; 0 4841.191 969.311; 0 0 1]
doffs=156.633
baseline=170.458
width=2784
height=1992
ndisp=480
isint=0
vmin=28
vmax=452
dyavg=0.360
dymax=1.194

This is the code I wrote (based on MATLAB examples):

imageSize = [1992, 2784];
baseline = 170.458;

% calibration
k0 = [4841.191, 0, 1441.607;
    0, 4841.191, 969.311;
    0, 0, 1];
cameraParameters0 = cameraParameters("K", k0, "ImageSize", imageSize);

k1 = [4841.191, 0, 1598.24; 
    0, 4841.191, 969.311;
    0, 0, 1];
cameraParameters1 = cameraParameters("K", k1, "ImageSize", imageSize);

R10 = eye(3); % orientation of cam1 with respect to cam0
t10 = [baseline; 0; 0]; % translation of cam1 with respect to cam0
poseCamera1 = rigidtform3d(R10, t10); % pose of cam1 with respect to cam0

stereoParams = stereoParameters(cameraParameters0,cameraParameters1,poseCamera1); % calibrate stereo camera

I0 = imread("im0.png"); % load image 0
I1 = imread("im1.png"); % load image 1
[J0,J1,reprojectionMatrix] = rectifyStereoImages(I0,I1,stereoParams,OutputView='valid'); % rectify images

disparityRange = [0 128];
disparityMap = disparitySGM(im2gray(J0),im2gray(J1), 'DisparityRange', disparityRange);

figure
imshow(disparityMap,disparityRange)

figure
reconstructedPoints = reconstructScene(disparityMap,reprojectionMatrix);
pcshow(pointCloud(reconstructedPoints))

The disparity map that I get is shown below:

I tried to tinker with the "Uniqueness" and the "DisparityRange" parameters of the disparitySGM function, but I have not been able to get a disparity map which can actually be used.

I also tried to replace disparitySGM with disparityBM, and this is what I get:

As I expected given those disparity maps, the point cloud does not look good (this was generated from the disparity map obtained with disparitySGM):

I suspect there may be something wrong with the camera parameters I configured, but I am not sure about it. Any ideas regarding what I am doing wrong?