Disparity map code?

Could someone point me to C/C++ code that can get the disparity map between a left/right stereo pa开发者_JAVA技巧ir?Even matlab would do.

OpenCV has a good piece of sample code: "Demo stereo matching converting L and R images into disparity and point clouds" https://code.ros.org/trac/opencv/browser/trunk/opencv/samples/cpp/stereo_match.cpp