code: public void process( I left , I right , GrayF32 imageDisparity ) {
  		// check inputs and initialize data structures
  		InputSanityCheck.checkSameShape(left,right,imageDisparity);
  		this.imageLeft = left;
  		this.imageRight = right;
  
  		w = left.width; h = left.height;
  
  		// Compute disparity for each pixel
  		for( int y = radiusY*2; y < h-radiusY*2; y++ ) {
  			for( int x = radiusX*2+minDisparity; x < w-radiusX*2; x++ ) {
  				// take in account image border when computing max disparity
  				int max = x-Math.max(radiusX*2-1,x-score.length);
  
  				// compute match score across all candidates
  				processPixel(x, y, max);
  
  				// select the best disparity
  				imageDisparity.set(x,y,(float)selectBest(max));
  			}
  		}
  	}
docs: Computes the disparity for two stereo images along the image's right axis.  Both
  image must be rectified.
  
  @param left Left camera image.
  @param right Right camera image.