I haven't used stereo_image_proc in a while, but those 'waves' are
what the subpixel interpolation is supposed to avoid. Each 'wave'
corresponds to a discrete pixel disparity. So the interpolation is
either not working, or not working well enough. I would check whether
the interpolation is enabled. Also, you might want to ask at
ros.answers.org.
Daniel

On Mon, Mar 14, 2011 at 1:19 PM, Sabrina Kliegl <skliegl@get.upb.de> wrote:
> Hi,
>
> using stereo_image_proc I observe that flat surfaces appear waved in the
> resulting point cloud - with growing "wavelength" for farer points. Is this
> because of the quadratic interpolation done by stereo_image_proc for subpixel
> accurancy? Is there any option to reduce this effect (which is really bad for
> drivability analysis)?
>
> Curious about your answers,
> Sabrina
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