How to find the disparity in image processing.

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To calculate the distance Z of an object from a camera using the formula Z = bf/D, where b is the baseline and D is the disparity, understanding how to compute disparity is crucial. Disparity is derived from the corresponding points in two images captured from slightly different positions. The discussion emphasizes the need for a clear algorithm to find disparity using C#, as the user is required to develop the solution independently without libraries like OpenCV. The relationship between disparity and the corresponding points in images is highlighted, with a focus on whether disparity is measured in pixels and how it integrates into the distance calculation. The conversion of focal length into pixel units is also questioned, indicating a need for clarity on these conversions. Additionally, the relevance of the essential and fundamental matrices in finding disparity is debated, with the user expressing a desire to avoid their complexity if disparity can be computed directly. The discussion points towards the necessity of understanding the mathematics behind the algorithm for effective implementation.
ngkamsengpeter
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Given 2 image taken from 2 camera in canonical position, and the baseline is b, we can find the distance Z of an object from the camera. We know that

Z=bf/D where D is disparity.

I read some books but still have no idea of how to find the disparity using c#. Can someone suggest some mathematics and algorithm for me?
I also read about finding the correspondence point of the image but i have no idea of how the corresponding point related to disparity. And what is the unit of disparity we found using algorithm.Is it in unit of pixel and can we plug directly into above equation to find Z in unit of mm or cm? Or how can we convert focal length into pixel?

I also read about the essential matrix and fundamental matrix, do i really need to find them? because if i can find disparity without using these matrix, then i already can find the distance using formula above. This matrices is very difficult to solve.

My supervisor require me to write the entire algorithm by myself without using any library such as opencv. So someone please give me the mathematics behind the algorithm.
 
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