Generating 3D points from Disparity

Can someone point out the math involved in getting the 3d points of an image from its disparity values?I have the Image(i,j) and disparity at each of these points.What i want is the开发者_如何学运维 true 3D coordinate x,y,z using math equations.

Long answer - http://www.amazon.com/Multiple-View-Geometry-Computer-Vision/dp/0521540518/

Short answer. You have the pixel scale, so for a given number of pixel disparity you can get an angle different. With the baseline between cameras and an angle you have a distance

ps. take a look at the opencv book, it has a couple of good chapters on stereo