baseline = 60;		%Distance between the cameras in millimeters
focalLength = 6; 	%Focal length is measured in millimeters
pixelSize = 0.006;	%Pixel size is measured in millimeters per pixel

%Define object of interest's centroid's offset from center of frame
xLeftOffset = 15;
yLeftOffset = 4;

xRightOffset = -5;
yRightOffset = 6;

%Disparity: difference (in millimeters) in position in the 2 camera's frames
disparity = (abs(xLeftOffset - xRightOffset)*pixelSize);

%Z= depth coordinate (in millimeters) of the centroid of the object of interest
Z=(baseline*focalLength)/disparity;

%X and Y coordinates (in millimeters) can then be found
X= (Z * xLeftOffset * pixelSize) / focalLength;
Y= (Z * yLeftOffset * pixelSize) / focalLength;