Issue #41 resolved
Dimitrios Kanoulas
created an issue

I am facing the following issue that can be shown in the image. I am not getting any point cloud in the areas of repeated patterns or in areas that are black (see the back of the chair or the wall). Does this make any sense; is it reasonable? Thanks a lot!

Comments (2)

  1. Matt Alvarado

    Hi Dimitrios,

    I would expect poor stereo performance in regions with little visible texture (black regions), and regions with repeating patterns. I both situations the stereo matching cost function has no clear minimum, which results in the match being excluded in the post-filtering step.

    To attempt to get denser results I would make sure HDR is disabled, and try decreasing the stereo_post_filtering threshold. Another possible solution would be to use an external projection system to add texture to the scene (http://www.newegg.com/Product/Product.aspx?Item=9SIA6J12AR2924).

    Thanks, Matt Alvarado Engineer Carnegie Robotics

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