Finding the disparity to depth matrix using Matlab

I have the Rotation matrix and 开发者_StackOverflow中文版the translation vector between the 2 cameras .Is there a way to find out the 4 X 4 disparity-to-depth mapping matrix using Matlab ? I used this link for finding the R and T parameter values between the two cameras.

You can always compile OpenCv and use it in matlab as external DLL.