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disparity gives you distance between object and optical center. a constant disparity constant means : a sphere

(u1,v1) pixel coordinate in image 1 (u2,v2) pixel coordinate in image 2

u2-u1=d=disparity (images are rectified)

b base

f focal length

mx,my pixels/mm in x or y direction

disparity gives you distance between object and optical center. a constant disparity constant means : a sphere see @kafan answer : a sphereplane Z=cste

(u1,v1) pixel coordinate in image 1 (u2,v2) pixel coordinate in image 2

u2-u1=d=disparity (images are rectified)

b base

f focal length

mx,my pixels/mm in x or y direction

disparity gives you distance between object and optical center. a constant disparity constant means : a sphere see @kafan answer : a plane Z=cste

(u1,v1) pixel coordinate in image 1 (u2,v2) pixel coordinate in image 2

u2-u1=d=disparity (images are rectified)

b base

f focal length

mx,my pixels/mm in x or y direction