Today I constructed a small application to calculate the distance at which the objects are from the two stereo cameras. The image in the bottom left shows the nearer object in lighter colours and the far objects in darker tones. There are some problems especially in blank areas, where there are no big references to create the image (see red areas).
To calculate this image, for each pixel on the top left image I calculated the displacement of that point in the right image. The displacement is inversely proportional to the distance.
