3d point cloud generation

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Hi all,

Im working on a project, that identifies the X,Y,Z position of an apple from the tree.

I calibrated a pair of webcameras as a stereo camera and then using the rectified images from each of the camera, i did some thresholding, filtering and finally have extracted the apple region alone in both of the images. So now i have two images with each of the image holding only the apple region in grayscale, leaving the rest of the region with black color. Now having extracted the apple region from both the images, i want to compare these 2 images and identify the x,y,z positions of the border of the apples. Im running this on ROS using C++. Could you please suggest me how to identify the x,y,z locations from these pair of extracted images, since i am new to Opencv.

Thanks in advance