hIdtc?=?vision.ImageDataTypeConverter;
hCsc?=?vision.ColorSpaceConverter（‘Conversion‘‘RGB?to?intensity‘）;
leftI3chan?=?step（hIdtcimread（‘shudxc1.png‘））;
leftI?=?step（hCscleftI3chan）;
rightI3chan?=?step（hIdtcimread（‘shudxc2.png‘））;
rightI?=?step（hCscrightI3chan）;

figure（1）?clf;
imshow（rightI3chan）?title（‘Right?image‘）;

figure（2）?clf;
imshowpair（rightIleftI‘ColorChannels‘‘red-cyan‘）;axis?image;
title（‘Color?composite?（right=red?left=cyan）‘）;
Dbasic?=?zeros（size（leftI）?‘single‘）;
disparityRange?=?16;
%?Selects?（2*halfBlockSize+1）-by-（2*halfBlockSize+1）?block.
halfBlockSize?=?4;
blockSize?=?2*halfBlockSize+1;
%?Allocate?space?for?all?template?matcher?System?objects.
tmats?=?cell（blockSize）;

%?Initialize?progress?bar
hWaitBar?=?waitbar（0?‘Performing?basic?block?matching...‘）;
nRowsLeft?=?size（leftI?1）;

%?Scan?over?all?rows.
for?m=1:nRowsLeft
????%?Set?min/max?row?bounds?for?image?block.
????minr?=?max（1m-halfBlockSize）;
????maxr?=?min（nRowsLeftm+halfBlockSize）;
????%?Scan?over?all?columns.
????for?n=1:size（leftI2）
????????minc?=?max（1n-halfBlockSize）;
????????maxc?=?min（size（leftI2）n+halfBlockSize）;
????????%?Compute?disparity?bounds.
????????mind?=?max（?-disparityRange?1-minc?）;
????????maxd?=?min（?disparityRange?size（leftI2）-maxc?）;

????????%?Construct?template?and?region?of?interest.
????????template?=?rightI（minr:maxrminc:maxc）;
????????templateCenter?=?floor（（size（template）+1）/2）;
????????roi?=?[minc+templateCenter（2）+mind-1?...
???????????????minr+templateCenter（1）-1?...
???????????????maxd-mind+1?1];
????????%?Lookup?proper?TemplateMatcher?object;?create?if?empty.
????????if?isempty（tmats{size（template1）size（template2）}）
????????????tmats{size（template1）size（template2）}?=?...
????????????????vision.TemplateMatcher（‘ROIInputPort‘true）;
????????end
????????thisTemplateMatcher?=?tmats{size（template1）size（template2）};

????????%?Run?TemplateMatcher?object.
????????loc?=?step（thisTemplateMatcher?leftI?template?roi）;
????????Dbasic（mn）?=?loc（1）?-?roi（1）?+?mind;
????end
????waitbar（m/nRowsLefthWaitBar）;
end

close（hWaitBar）;

figure（3）?clf;
imshow（Dbasic[]）?axis?image?colormap（‘jet‘）?colorbar;
caxis（[0?disparityRange]）;
title（‘Depth?map?from?basic?block?matching‘）;

DbasicSubpixel=?zeros（size（leftI）?‘single‘）;
tmats?=?cell（2*halfBlockSize+1）;
hWaitBar=waitbar（0‘Performing?sub-pixel?estimation...‘）;
for?m=1:nRowsLeft
????%?Set?min/max?row?bounds?for?image?block.
????minr?=?max（1m-halfBlockSize）;
????maxr?=?min（nRowsLeftm+halfBlockSize）;
????%?Scan?over?all?columns.
????for?n=1:size（leftI2）
????????minc?=?max（1n-halfBlockSize）;
????????maxc?=?min（size（leftI2）n+halfBlockSize）;
????????%?Compute?disparity?bounds.
????????mind?=?max（?-disparityRange?1-minc?）;
????????maxd?=?min（?disparityRange?size（leftI2）-maxc?）;

????????%?Construct?template?and?region?of?interest.
????????template?=?rightI（minr:maxrminc:maxc）;
?