This paper introduced a novel method for stereoscopic image creation in virtual reality system. In our method, the left and right images are created in a single camera space, and the image disparities are produced by a pair of matrices. Based on the analysis on the relations among disparity, perceived depth and deformation of perceived objects in a single camera space, disparity and perceived deformation was modeled as 3D mesh warping, consequently the disparity and the perceived deformation could be controlled flexible by deforming the model mesh. Finally, we proposed a nonlinear depth mapping method using model warping, which could reduce perceived object distortion and avoid the image shift caused by perceived depth mapping in stereoscopic head-tracked display system when the viewer moved his head left and right.