差异估计算法，指定为逗号分隔对，由'Method' and either“阻止匹配”或者'SemiGlobal'。The disparity function implements the basic Block Matching[1]和半全球块匹配[3]算法。在里面“阻止匹配”方法，该函数通过比较图像中每个像素块的绝对差异（SAD）的总和来计算差异。在里面'SemiGlobal'matching method, the function additionally forces similar disparity on neighboring blocks. This additional constraint results in a more complete disparity estimate than in the“阻止匹配”method.

The algorithms perform these steps:

差异范围，指定为逗号分隔对，由'DisparityRange' and a two-element vector. The two-element vector must be in the format [MinDisparity,maxdisparity]。Both elements must be an integer and can be negative.MinDisparity和maxdisparitymust be in the range [-image width,image width]。和...之间的不同maxdisparity和MinDisparitymust be divisible by16。DisparityRange必须是真实的，有限的，也必须是非sparse。如果相机曾经采用I1was to the right of the camera used to takeI2, thenMinDisparity必须是负面的。

差异范围取决于两个摄像机与摄像机与感兴趣对象之间的距离之间的距离。增加DisparityRange当摄像机远part or the objects are close to the cameras. To determine a reasonable disparity for your configuration, display the stereo anaglyph of the input images in theImage Viewerapp and use the Distance tool to measure distances between pairs of corresponding points. Modify themaxdisparity对应于测量。

方块大小, specified as the comma-separated pair consisting of '阻止' and an odd integer in the range [5,255]. This value sets the width for the square block size. The function uses the square block of pixels for comparisons betweenI1和I2。阻止必须是真实的，有限的，也必须是非sparse。

对比阈值范围，指定为逗号分隔对，由'ContrastThreshold' and a scalar value in the range (0,1]. The contrast threshold defines an acceptable range of contrast values. Increasing this parameter results in fewer pixels being marked as unreliable.ContrastThreshold必须是真实的，有限的，也必须是非sparse。

Minimum value of uniqueness, specified as the comma-separated pair consisting of '唯一思想' and a nonnegative integer. Increasing this parameter results in the function marking more pixels unreliable. When the uniqueness value for a pixel is low, the disparity computed for it is less reliable. Setting the threshold to0disables uniqueness thresholding.唯一思想必须是真实的，有限的，也必须是非sparse。

该函数将唯一性定义为最佳差异估计的比率和较小的最佳差异估计。例如：

Maximum distance for left-to-right image checking between two points, specified as the comma-separated pair consisting of 'DistanceThreshold' and a nonnegative integer. Increasing this parameter results in fewer pixels being marked as unreliable. Conversely, when you decrease the value of the distance threshold, you increase the reliability of the disparity map. You can set this parameter to an empty matrix[]至disable it.DistanceThreshold必须是真实的，有限的，也必须是非sparse。

距离阈值指定一个点之间的最大距离I1从I2。The function finds the distance and marks the pixel in the following way:

最小纹理阈值，指定为逗号分隔对，由'质地Threshold' and a scalar value in the range [0, 1). The texture threshold defines the minimum texture value for a pixel to be reliable. The lower the texture for a block of pixels, the less reliable the computed disparity is for the pixels. Increasing this parameter results in more pixels being marked as unreliable. You can set this parameter to0至disable it. This parameter applies only when you setMethod至“阻止匹配”。

The texture of a pixel is defined as the sum of the saturated contrast computed over the阻止-by-阻止周围像素的窗口。函数认为届e disparity computed for the pixel unreliable and marks it, when the texture falls below the value defined by:

质地Threshold必须是真实的，有限的，也必须是非sparse。