Ok, I'll have a go ;-)
I see the images are just grayscale, so if the "depth" information is just the intensity of the pixel, "joining" them may be just a matter of adding the pixels. This is generally referred to as "blending", but I don't know what else you could mean.
So, you need to;
- Read the 2 images into memory
- For each pixel (assuming both images the same size):
- read the intensity from image A[row,col]
- read the intensity from image B[row,col]
- write max(A[row,col],B[row,col]) to C[row,col]
- Save image C - this is your new "joined" image.
Now OpenGL doesn't have any built-in support for loading/saving images, so you'll need to find a 3rd party library, like FreeImage or similar.
So, that's a lot of work. I wonder if you really want an OpenGL solution or are just assuming OpenGL would be good for graphics work. If the algorithm above is really what you want, you could do it in something like C# in a matter of minutes. It has built-in support for loading (some formats) of image file, and accessing pixels using the Bitmap class. And since your created this images yourself, you may not be bound the the TIFF format.