code: public void configure(double baseline,
  						  DMatrixRMaj K, DMatrixRMaj rectifiedR,
  						  Point2Transform2_F64 rectifiedToColor,
  						  int minDisparity, int maxDisparity) {
  		this.K = K;
  		ConvertMatrixData.convert(rectifiedR,this.rectifiedR);
  		this.rectifiedToColor = rectifiedToColor;
  		this.baseline = (float)baseline;
  		this.focalLengthX = (float)K.get(0,0);
  		this.focalLengthY = (float)K.get(1,1);
  		this.centerX = (float)K.get(0,2);
  		this.centerY = (float)K.get(1,2);
  		this.minDisparity = minDisparity;
  
  		this.rangeDisparity = maxDisparity-minDisparity;
  	}
docs: Stereo and intrinsic camera parameters
  @param baseline Stereo baseline (world units)
  @param K Intrinsic camera calibration matrix of rectified camera
  @param rectifiedToColor Transform from rectified pixels to the color image pixels.
  @param minDisparity Minimum disparity that's computed (pixels)
  @param maxDisparity Maximum disparity that's computed (pixels)