function cory = correlation_matching(left, right,x,y)
% This function creates a disparity map from a pair of stereo images.

% Use left as reference.
left = double(left);
right = double(right);

% Parameters based on a 419x419 grayscale image.
w = 5; %pixels wide
%x = 210; %fixed in the middle
%y = 120; %about a third into the image
fy = y;

%limit = y+w
lw = y-w;
upr = y+w;

k = 30; %iterations

best = 0;
for j = 0:k
    cum = 0;    
    for i = lw:upr
        %buff(x,i) = left(x,i)*right(x,i+j);
        cum = cum + (left(x,i) - right(x,i+j))^2;
    end
    %y = y+1;    
    if cum < best | best == 0
        best = cum;
        besty = y+j;        
    end
end

%buff
best;
y;

cory = besty;