First, the two images need to be properly rectified. I am gonna use Epipolar Rectification 9 (ER9) to rectify the images.
I am gonna use Depth Map Automatic Generator 5b (DMAG5b) because there's not a lot of depth in the scene, and therefore not a whole lot of occlusions. DMAG5b needs a min and max disparity which you can get by carefully reading the output of the epipolar rectifier ER9. The output of ER9 gives min disparity = -12 and max disparity = 102. Those need to be multiplied by -1. So, for DMAG5b, min disparity = -102 and max disparity = 12.
Depth map generated by DMAG5b using alpha = 0.9, truncation (color) value = 7.0, truncation (gradient) value = 2.0.
As advertised, there is not a lot of occlusions, which justifies the use of DMAG5b. If the 3d scene had more depth, DMAG5b would probably not be the best choice as it would "fatten" object boundaries.
Animated gif of the corresponding 3d scene thanks to Depth Map Viewer.