stereo matching - preprocessing for images (from different cameras)

Questions
1

Hi,
I want to perform stereo processing to estimiate the depth of the scene.
I have two different scenarios where I want to apply Sum of Squared Differences / Birchfield Tomasi for disparity computation.

  1. Two RGB images from the same camera with predefined baseline
  2. RGB image combined with gray level image from different camera.

So far, I have applied the following steps for preprocessing:

  • histogram equalization
  • bilateral filtering

I’m not sure, since the gain dynamic of the gray image camera is much stronger then the one of the rgb camera.
What can I do to adapt bias and gain of the two images for case 2.?

Are there any other filters that I should apply (for 1. and 2.) to improve disparity coputation?

Thanks!
Peter