一直找不到opencv stereo matching的根据和原理出处，下面这个文章贴了个链接，有时间看看：
Basically OpenCV provides 2 methods to calculate a dense disparity map:
- cvFindStereoCorrespondenceBM: Fast (can process several images per second), but if parameters not tuned then the results are poor.
- cvFindStereoCorrespondenceGC: Really Slow (takes several seconds, even minutes per image), but gets very accurate results.
In this post I willfocus on cvFindStereoCorrespondenceBM, this method is based on Konolige's Block Matching Algorithm.
参考：
http://blog.martinperis.com/2011/08/opencv-stereo-matching.html