Disparity vs depth

1. What is the difference between depth and disparity?
2. Is depth proportional to disparity?
3. How do you calculate depth from disparity?
4. What is a disparity image?

What is the difference between depth and disparity?

Disparity is the horizontal displacement of a point's projections between the left and the right image. Whereas, depth refers to the z coordinate (usually z) of a point located in the real 3D world (x, y, z).

Is depth proportional to disparity?

Depth is inversely proportional to disparity, thus measurements are limited to nearby objects.

How do you calculate depth from disparity?

x = xl*z/f or b + xr*z/f y = yl*z/f or yr*z/f This method of determining depth from disparity d is called triangulation.

What is a disparity image?

The disparity image is one where the value of each pixel is inversely related to the distance between that point in the scene and the camera.