RightSADCost.m

function [disparityLeft] = RightSADCost(img_left, img_right, MaxDisparity)
    disp('Begin RightSADCost');
    blockSize = 21;
    halfBlock = round(blockSize / 2);

    disparityLeft = zeros(size(img_left));

    for i = halfBlock + 1:size(img_left, 1) - halfBlock

        for j = halfBlock + 1:size(img_left, 2) - halfBlock
            blockRight = img_right(i - halfBlock:i + halfBlock, j - halfBlock:j + halfBlock);

            for k = 0:min(MaxDisparity, size(img_left, 2) - halfBlock - j)
                blockLeft = img_left(i - halfBlock:i + halfBlock, j - halfBlock + k:j + halfBlock + k);
                % calculate SAD
                sadValue(k + 1, 1) = sum(abs(blockLeft(:) - blockRight(:)));
            end

            [x disparity] = min(sadValue);
            disparityLeft(i, j) = (disparity - 1);
        end

    end

    disp('End RightSADCost');