Computes a disparity map from a stereo pair of black and white images.
PIXEL_DISP(leftImage, rightImage, outputImage, plot, greyscale, scan_window_size, support_scale);
e.g.
PIXEL_DISP('IN/pentagon_right.bmp', 'IN/pentagon_left.bmp', 'OUT/Pentagon_7_3', 0, 1, 7, 3);
read in L and R images and if necessary, convert both to greyscale
loop for each pixel in the left image
generate matrix of left scan window for the current pixel
calculate boundaries for the large right support window
generate matrix of large right support window
begin loop for each pixel in the large right support window
get matrix of scan window size for the current pixel in support window
calculate disparity by performing sum of squared differences
if the disparity for the current right scan window is closer to 0 then
note disparity and x value within the right support window
end loop
calculate the vector from the current row point to closest disparity match
map the value between 0-255 for display purposes
add value to array of disparity map array
end loop
write image out
end