17
Resultant Depth Calculation
For stereo cameras with parallel optical
axes, focal length f,
baseline b, corresponding image points
(xl,yl) and (xr,yr)
with disparity d:
z =
f*b / (xl - xr) = f*b/d
x = xl*z/f or b + xr*z/f
y = yl*z/f or yr*z/f
This method of
determining depth
from disparity is
called triangulation.