**stereo**A simple and effective stereo algorithm derived from PMF that works reasonably well.**Stereo Options :**Disparity range uniform: using whole displarity range everywhere over the image. histogram: [default] perform an initial coarse scaled disparity histogram (using a subset of edge data) from which a conservative lower disparity range is recovered for each image region (again coarsely quantised).

**Stereo Parameters :**Lower disp The lower limit of the disparity range. Upper disp The upper limit of the disparity range.

**init geom3**Delete the current geometry estimates (this facility is provided in order to permit summary of multiple 3D estimates, including those based on corner features).**geom3**Combined 2D geometry and stereo matches for the underlying edge strings to obtain 3D line sections. The fitting of disparity to lines is performed in the rectified coordinates. That is edges must be rectified prior to both**stereo**and**geom2**(the actual order of**stereo**and**geom2**is unimportant). The 3D geometry is with respect to the coordinate frame of the left camera of the imaginary camera geometry (it shares its origin with the true optical centre of the real left camera).**Geom3 parameters :**3D fit thres Threshold on deviation from 3D primitive in disparity space (pixels).

**left**Transform 3D geometry from left hand rectified parallel camera frame to true left hand camera frame.