Stereo coordinate system and key results

Here, I try to summarise the canonical coordinate system I have found convenient for describing disparity, and some of the key results that follow. I have used these in several of my published papers. My aim is to provide a convenient point of reference, in a document which I hope to make error-free. (To this end, please let me know if you spot any inaccuracies in it!)

Vertical disparity

Some videos illustrating how epipolar lines shift as the eyes move.

Code

Publicly-available Matlab code.

More technical stuff

Lots of small technical details about how I solved (or not) various problems I’ve come across.