text: add_library('opencv_processing')
  
  from org.opencv.calib3d import StereoBM, StereoSGBM
  
  imgL = loadImage("scene_l.jpg")
  imgR = loadImage("scene_r.jpg")
  ocvL = OpenCV(this, imgL)
  ocvR = OpenCV(this, imgR)
  size(ocvL.width * 2, ocvL.height * 2)
  ocvL.gray()
  ocvR.gray()
  left = ocvL.getGray()
  right = ocvR.getGray()
  disparity = OpenCV.imitate(left)
  stereo = StereoSGBM(0, 32, 3, 128, 256, 20, 16, 1, 100, 20, True)
  stereo.compute(left, right, disparity)
  depthMat = OpenCV.imitate(left)
  disparity.convertTo(depthMat, depthMat.type())
  depth1 = createImage(depthMat.width(), depthMat.height(), RGB)
  ocvL.toPImage(depthMat, depth1)
  stereo2 = StereoBM()
  stereo2.compute(left, right, disparity)
  disparity.convertTo(depthMat, depthMat.type())
  depth2 = createImage(depthMat.width(), depthMat.height(), RGB)
  ocvL.toPImage(depthMat, depth2)
  
  image(imgL, 0, 0)
  image(imgR, imgL.width, 0)
  image(depth1, 0, imgL.height)
  image(depth2, imgL.width, imgL.height)
  fill(255, 0, 0)
  text("left", 10, 20)
  text("right", 10 + imgL.width, 20)
  text("stereo SGBM", 10, imgL.height + 20)
  text("stereo BM", 10 + imgL.width, imgL.height + 20)
  
  