function [DisparityImage,diffDCval] = GetDisparityImage(left,right)

[rows,cols] = size(left);
corr = 2;

% Compensate for differing DC values
diffDCval = mean(mean(left)) - mean(mean(right));
right = right + diffDCval;


for rr = 1 : rows
  for cc = 1 : cols
    
    pixVal = right(rr,cc);
    
    % now calculate the disparity in the right image along epipolar line
    disparity = 0;
    
    rowDiff = abs( left(rr,:) - pixVal ) + 3*abs((1:cols) - cc + corr);
    [difference,disparity] = min(rowDiff);  
    
    DisparityImage(rr,cc) = disparity - cc;
    DifferenceImage(rr,cc) = difference;
  end
end

% meanDisparity  = mean(mean(DisparityImage))
% maxDifference  = max(max(DifferenceImage))
% meanDifference = mean(mean(DifferenceImage))