code: public static GrayU8 denseDisparity(GrayU8 rectLeft , GrayU8 rectRight ,
  										int regionSize,
  										int minDisparity , int maxDisparity )
  	{
  		// A slower but more accuracy algorithm is selected
  		// All of these parameters should be turned
  		StereoDisparity<GrayU8,GrayU8> disparityAlg =
  				FactoryStereoDisparity.regionWta(DisparityAlgorithms.RECT_FIVE,
  						minDisparity, maxDisparity, regionSize, regionSize, 25, 1, 0.2, GrayU8.class);
  
  		// process and return the results
  		disparityAlg.process(rectLeft,rectRight);
  
  		return disparityAlg.getDisparity();
  	}
docs: Computes the dense disparity between between two stereo images.  The input images
  must be rectified with lens distortion removed to work!  Floating point images
  are also supported.
  
  @param rectLeft Rectified left camera image
  @param rectRight Rectified right camera image
  @param regionSize Radius of region being matched
  @param minDisparity Minimum disparity that is considered
  @param maxDisparity Maximum disparity that is considered
  @return Disparity image