# How to make the disparity map filter not adapting?

Hello! I am using WLS filter for beautify and stabilize disparity map. I followed this tutorial - created right and left matchers and compute two disparity maps. My WLS filter parameters are: lambda = 8000, sigma = 1.5; SGBM parameters are win_size = 9, min_disp = 0, num_disp = 80, uniquenessRatio = 0, speckleRange = 2, speckleWindowSize = 150, disp12MaxDiff = 10, preFilterCap = 3. SGBM parameters i got by hands using trackbars, WLS parameters i teked from tutorial.
After applying filter i got nice result:

biggest - filtered, upper - left, lower - right.
But when i show my hand all disparity map stays darker:
My question is how to make disparity map stable and not "adapting" to environment? Maybe i must change the parameters or do something else, or it is cameras problem?

Thank you!

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