Stereo_match.js(incomplete)

var cv = require('opencv');
var fs = require('fs');
console.log("Loading images ...");
cv.readImage('aloeL.jpg',function(errL,imgL){
  cv.readImage('aloeR.jpg',function(errR,imgR){
    imgL.pyrDown();
    imgR.pyrDown();
    var window_size = 3;
    var min_disp = 16;
    var num_disp = 112 - min_disp;
    var stereo = new cv.StereoSGBM(min_disp,num_disp,11,(8*3)*(Math.pow(window_size,2)),(32*3)*(Math.pow(window_size,2)),1,15,50,2);

    console.log("Computing disparity ...");
    var disp = stereo.compute(imgL,imgR);
    var disp8 = new cv.Matrix();
    disp.convertTo(disp8, cv.Constants.CV_8U, 255/(num_disp*16.0))
    disp8.save('test1.jpg');
    console.log("generating 3d point cloud...");
    var h = imgL.size()[0];
    var w = imgL.size()[1];
    var f = 0.8*w;
    var Q = new cv.Matrix.Zeros(4,4);
    Q.set(0,0,1);
    Q.set(0,3,0);
    Q.set(0,3,-0.5*w);
    Q.set(1,1,-1);
    Q.set(1,3,0.5*h);
    Q.set(2,3,-f);
    Q.set(3,2,1);
    var points = cv.calib3d.reprojectImageTo3d(disp,Q);
    var colors = imgL.copy();
    colors.cvtColor('CV_BGR2RGB');

    var FLT_EPSILON = 1.19209e-07;
    var max_z = 1.0e4;
    var count = 0;
    var ply = '';
    for (var i = 0; i < points.size()[0]; i++){
      for (var j = 0; j < points.size()[1]; j++){
        if((Math.abs(points.pixel(i,j)[2] - max_z) < FLT_EPSILON) || (Math.abs(points.pixel(i,j)[2]) > max_z)) {
          continue;
        }
        count = count+1;
        ply = ply + points.pixel(i,j)[0] + " " + points.pixel(i,j)[1] + " " + points.pixel(i,j)[2] + " " + colors.pixel(i,j)[0] + " " + colors.pixel(i,j)[1] + " " + colors.pixel(i,j)[2] + "\n";
      }
    }

    var ply_header = 'ply\n'+
    'format ascii 1.0\n'+
    'element vertex '+count+'\n'+
    'property float x\n'+
    'property float y\n'+
    'property float z\n'+
    'property uchar red\n'+
    'property uchar green\n'+
    'property uchar blue\n'+
    'end_header\n';

    ply = ply_header + ply;
    fs.writeFile("out1.ply",ply,function(err){
      if(err){
        return console.log(err);
      }
      console.log("Saved out1.ply");
    });
  });
});