How to project 3D world view into pair of stereo images ?

Hey all,

Starting from a 3D world, let's say:

z = peaks;
x = repmat(1:size(z,1),size(z,1),1);
y = x';

I can project the points onto a 2D camera image using intrinsic camera parameters and a transformation matrix to determine viewpoint of the 3D world:

However when placing the viewpoint closer to the 3D world I obtain:

Which is normal since all the points are projected onto the 2D image, however I would like to find a way to remove the points that should not be seen from the viewpoint (e.g. those hidden behind the peaks). Does anyone have an idea regarding this first problem ?

Secondly I would also like to create a pair of stereo images from the viewpoint using extrinsic camera parameters, if i'm not mistaken I simply change the view point by the distance separating the two camera lens?

--- I used the following project to create the images shown above: ---

https://fr.mathworks.com/matlabcentral/fileexchange/48752-project-3d-into-2d-image-coordinates-using-a-camera-model

[Nick]

I guess you could use a Z-buffer to not display overlapping items, its relatively simple to implement: https://en.wikipedia.org/wiki/Z-buffering

The basic idea is you perform a check for the distance when the same pixel is filled in, if the distance is closer you overwrite the pixel and otherwise you keep the old one