Fixed boundary check

[yukatayu]

SSIA.

As you know...
at stereo::compute_subpixel_disparity,
x is (base_x + slide_offset + window_offset)
      where {
           base_x = scaled_x_right
           slide_offset ∈ [ - slide_width, + slide_width ]
           window_offset ∈ [ - win_size, win_size ]
      }

So, x ∈ [ scaled_x_right - slide_width - win_size, scaled_x_right + slide_width + win_size + 1 ).
Thus x ∈ [ scaled_x_right - slide_width - win_size, scaled_x_right + slide_width + win_size ].

That's why

const int ini_x = scaled_x_right - slide_width - win_size;
const int end_x = scaled_x_right + slide_width + win_size;

is correct.

(since assert(!(right_image_pyramid_.at(keypt_left.octave).cols <= end_x)) means assert(end_x < right_image_pyramid_.at(keypt_left.octave).cols), [ini_x, end_x] must be closed interval.)

[shinsumicco]

@yukatayu
I agree to it. Thanks!