monochrome 2D depth map from stereo pair?

[dbur]

What's the easiest way to get a monochrome 2D depth map from a stereo pair?
Can Zerene produce this output to an exported file? Or does it exist as an intermediate result?
Are there any algorithms in public space that could be utilized in a custom SW app? Or stand alone apps that just do this?

I am looking at a problem that needs to identify the XY location of the highest points of an array of objects on a flat surface as viewed from above. I am looking at stereo pair images at first, and maybe moving to real time video eventually.

Thanks.