Always worth looking at a point cloud versus a disparity map. Grayscale disparity/depth maps are somewhat misleading - the large regions of constant intensity

Always worth looking at a point cloud versus a disparity map. Grayscale disparity/depth maps are somewhat misleading - the large regions of constant intensity suggest that the algorithm is good at segmenting areas of constant depth. However, the flickering in the map suggests that if you actually tried to plot this in 3D, it'd be pretty noisy. Not to disparage the result, but 2D depth/disparity maps tend to look better than what they represent. You can see this in the synthetic camera wiggle video, focus on the actor's hands, for example. You can also see this effect in the Stereolabs Zed promo video.