Some applications might require only a disparity map. Other applications require precise depth information. Examples of such applications are bin-picking, de-palletizing, 3D matching, and 3D measurements. For applications that require precise depth information, 3D planes can be computed following stereo calibration and stereo image rectification.

The following figure illustrates the complete 3D reconstruction process:

3D planes provide comprehensive real-world information about the scene, which can optionally be rendered to a real-world coordinate system. All real-world coordinates use the unit of measure specified during single-camera calibration.

Origin for the X and Y planes is the optical center. Depth and disparity coordinates, provided in the Z plane, are relative to the left camera.

Vision provides an error map for depth computation, which indicates the inherent error in measurement for each pixel.