Disparity images should be produced with 4 fps or better. At my institute, we can do some engineering by ourselves. However, FPGA programming is the limiting factor.
I spent 10 years working as an FPGA designer in the Vision Department of Siemens-UK R&D.
There I developed FPGA-based image processing systems that performed the real-time (25fps) disparity and feature tracking front-end for their unmanned ground and air vehicle naviagtion systems.
Having done this before, I could efficiently develop this again for you.