diff --git a/left8.png b/left8.png
new file mode 100644
index 0000000..2a5a277
Binary files /dev/null and b/left8.png differ
diff --git a/right8.png b/right8.png
new file mode 100644
index 0000000..68675ad
Binary files /dev/null and b/right8.png differ
diff --git a/src/Test.cpp b/src/Test.cpp
index afca227..bf3a3cd 100644
--- a/src/Test.cpp
+++ b/src/Test.cpp
@@ -21,7 +21,7 @@ typedef struct {
 } StereoData;
 
 #define WINDOW_START   0
-#define WINDOW_SIZE    78
+#define WINDOW_SIZE    70
 #define MATCH_SIZE     3
 #define ERROR_LEVEL    1
 
@@ -29,11 +29,36 @@ int getPixelValue(Mat* data, int x, int y)
 {
 	uchar* pixel = data->ptr(y, x);
 
-	return pixel[0];
+	return pixel[0] + pixel[1] + pixel[2];
+}
+
+void normalize(Mat* mat, int x_from, int x_to, int y)
+{
+	int n = x_to - x_from, val;
+	int sum_xy = 0, sum_x = 0, sum_y = 0, sum_x2 = 0;
+	float  a, b;
+	int tmp;
+	uchar* data;
+
+	for (int i = x_from; i < x_to; i++) {
+		val = getPixelValue(mat, i, y);
+		sum_xy += i * val;
+		sum_x  += i;
+		sum_y  += val;
+		sum_x2 += i * i;
+	}
+
+	a = 0; //((n * sum_xy) - (sum_x * sum_y)) / ((n * sum_x2) - (sum_x * sum_x));
+	b = (sum_y - a * sum_x) / n;
+
+	for (int i = x_from; i < x_to; i++) {
+		data = mat->ptr<uchar>(y, i);
+		//data[0] = a * i ;
+	}
 }
 
 int match(StereoData &params, int x, int y, int j) {
-	int error = 0;
+	int error = 0, val;
 	for (int i = 0; i < MATCH_SIZE; i++) {
 		if (x + j + i >= params.right->cols) {
 			return 999;
@@ -43,7 +68,9 @@ int match(StereoData &params, int x, int y, int j) {
 			if (y + g >= params.right->rows) {
 				return 999;
 			}
-			error += abs(getPixelValue(params.left, x + i, y + g) - getPixelValue(params.right, x + j + i, y + g));
+			val = abs(getPixelValue(params.left, x + i, y + g) - getPixelValue(params.right, x + j + i, y + g));
+
+			error += val;
 		}
 	}
 
@@ -86,25 +113,24 @@ void putPixel(Mat* mat, int x, int y, int cursor)
 
 
 void calcDepthMapMy2(StereoData &params) {
-	int x, y, cursor, cursor2, closest;
-	int minErrorValue, tmp, minLevel = 0, tmpSmoothed;
-	int rightLevel = 0, matched;
+	int x, y, cursor, closest, tmp;
+	int minErrorValue, tmpSmoothed, matched;
 
 	for (y = 0; y < params.stereo->rows; y++) {
-		cursor = 0; cursor2 = 0;rightLevel=0;
+		cursor = 0;
 		for (x = 0; x < params.stereo->cols; x++) {
 			closest = 999; minErrorValue = 999;matched=0;
-			for (int i = 0; i < WINDOW_SIZE; i++) {
+			for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
 				tmp = match(params, x, y, i);
-				tmpSmoothed = tmp;
+				tmpSmoothed = tmp + (1 * abs(cursor - i));
 
-				if (tmp < minErrorValue) {
-					minErrorValue = tmp;
-					closest = i;
+	            if (tmpSmoothed < minErrorValue) {
+					minErrorValue = tmpSmoothed;
 					matched = 1;
-				} else if (tmp == minErrorValue) {
+					closest = i ;
+				} else if (tmpSmoothed == minErrorValue) {
 					if (abs(cursor - i) < abs(cursor - closest)) {
-						closest = i ;
+						closest = i;
 						matched++;
 					}
 				}
@@ -112,50 +138,50 @@ void calcDepthMapMy2(StereoData &params) {
 
 			if (matched) {
 				cursor = closest;
-				putPixel(params.stereo, x, y, cursor);
+				putPixel(params.stereo, x + cursor, y, cursor);
 			}
+		}
+	}
 
+	/*for (y = 0; y < params.stereo->rows; y++) {
+		cursor = 0;
+		for (x = 0; x < params.stereo->cols; x++) {
 
-/*
-			closest = 999;minErrorValue = 999;
+			closest = 999;minErrorValue = 999;matched=0;
 
 			for (int i = WINDOW_START; i < WINDOW_SIZE; i++) {
-				tmp = rmatch(params, params.stereo->cols - x, y, i) ;
-				if (tmp < minErrorValue) {
-					minErrorValue = tmp;
-					closest = i;
-				}
+				tmp = rmatch(params, params.stereo->cols - x, y, i);
+				tmpSmoothed = tmp + (1 * abs(cursor - i));
 
-				if (tmp == minErrorValue) {
-					if (abs(cursor2 - i) < abs(cursor2 - closest)) {
+				if (tmpSmoothed < minErrorValue) {
+					minErrorValue = tmpSmoothed;
+					matched = 1;
+					closest = i ;
+				} else if (tmpSmoothed == minErrorValue) {
+					if (abs(cursor - i) < abs(cursor - closest)) {
 						closest = i;
+						matched++;
 					}
 				}
 			}
 
-			if (closest != 999) {
-				if (cursor2 != closest) {
-					cursor2 = closest;
-				}
-				putPixel(params.stereo, params.stereo->cols - x - cursor2, y, cursor2);
-			}*/
+			if (matched) {
+				cursor = closest;
+				putPixel(params.stereo, params.stereo->cols - x - cursor - 1, y, cursor);
+			}
 		}
-	}
+	}*/
 }
 
+
 int main(int argc, char** argv) {
 	StereoData params;
 
-	Mat left = imread("left2.png", 1);
-	Mat right = imread("right2.png", 1);
-
-	cvtColor(left, left, CV_BGR2GRAY);
-	cvtColor(right, right, CV_BGR2GRAY);
+	Mat left = imread("left6.png", 1);
+	Mat right = imread("right6.png", 1);
 
 	Mat stereo(Mat::zeros(left.rows, left.cols, CV_8U));
-	Mat visited(Mat::zeros(left.rows, left.cols, CV_8U));
 
-	params.visited = &visited;
 	params.left = &left;
 	params.right = &right;
 	params.stereo = &stereo;
@@ -164,7 +190,6 @@ int main(int argc, char** argv) {
 	calcDepthMapMy2(params);
 
 	imshow("Display Image Dyn Progr", stereo);
-	//imshow("Display Image Dyn Progr1", visited);
 	waitKey();
 
 	return 0;