function disparity = disparity()

window = 10;
r = floor(window/2);
maxDisparity = 30;

% Read the images
Ia = imread('tsukuba_l.png');
Ib = imread('tsukuba_r.png');

dim = size(Ia)

Ia = padarray(Ia, [r,r]);
Ib = padarray(Ib, [r,r]);
size(Ia)

disparity = zeros(dim);

for i = 1+r : dim(1)+r

    for j = 1+r : dim(2)+r

        minSSD = Inf;
        for k = max(1+r, j - maxDisparity) : j

            SSD = ssd(Ia, j, i, Ib, k, i, window);
            if SSD < minSSD
               minSSD = SSD;
               disparity(i,j) = j - k;
            end

        end
    end
end

end