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Make stereo point cloud more reliable #90

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jpanikulam opened this issue Apr 5, 2016 · 0 comments

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jpanikulam commented Apr 5, 2016

Stereo pt cloud works well with overhead sunlight
Suffers quite a bit in the shadows
Why? There's clear disparity in color

Experiments already conducted

Computing disparity on Hue instead of grayscale shows promise
SGBM on a more downsampled image

The bag called "2016-03-28-19-13-39.bag" shows this behavior, "2016-03-28-19-17-45.bag' too, but not quite as well.

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