$[$Stereo equation$].$ In Lecture Note $5\mathrm{.}1,$ slides $55-58,$ we have derived the relationship

between disparity and depth, using the perspective projection equation. In that derivation, we

use the camera coordinate of the left camera as the world coordinate. Try to re$-$do the derivation

assuming that the right camera coordinate is the world coordinate. You should get the same

relationship between disparity and depth as:

$Z_w=\frac{fB}{x_l-x_r}$