function obstacle_image = gp_stereo_hwk( left_image, right_image )
%=========================================================================
% function obstacle_image = gp_stereo_hwk( left_image, right_image )
% - CSE398/012 Matlab Homework Template, JRS, 17 Apr 07
% - Takes left and right rectified stereo images as input
% - Returns a modified left image where the detected obstacle pixels are
%   highlighted
% ========================================================================

% Closes any opended figures
close all;

% Display the left_image
left_fig = figure;
imagesc(left_image);
axis equal;

% Convert to grayscale and display this
left_gray_fig = figure;
left_gray = rgb2gray(left_image);
imagesc(left_gray);
colormap gray;
axis equal;

% Camera parameters
% Units are in meters and pixels
camera.f = 808.358398 ;
% This is the optical center for the camera
camera.o_x = 320 ;
camera.o_y = 240 ;
camera.baseline = 0.12024 ;
camera.rows = 480 ;
camera.columns = 640 ;
camera.height = 1.76 ;  
camera.centerline = 20 ;

% What are the minimum and maximum depths that we want to look at?
Z_min = 10;
Z_max = 30;