code: @Override
  	public boolean process(double x, double y) {
  
  		leftPixelToRect.compute(x,y,pixelRect);
  
  		// round to the nearest pixel
  		if( !disparity.process((int)(pixelRect.x+0.5),(int)(pixelRect.y+0.5)) )
  			return false;
  
  		// Compute coordinate in camera frame
  		this.w = disparity.getDisparity();
  		computeHomo3D(pixelRect.x, pixelRect.y, pointLeft);
  
  		return true;
  	}
docs: Takes in pixel coordinates from the left camera in the original image coordinate system
  @param x x-coordinate of the pixel
  @param y y-coordinate of the pixel
  @return true if successful