Figure 3

Aerial view of Figure 2 , also known as standard stereo configuration. P is a point in the 3D space whose depth (Z) may be recovered using p and p′ (its projections into the focal planes placed at f). B is the distance between O _R and O _T (the cameras). As long as the system has been rectified, the disparity may be assessed by subtracting x _R and x _T (the x coordinate values for p and p′).