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Add params to filter out poor stereo flow matches (#1667)

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* Add params to filter out poor stereo flow matches

* Added parameters: Vis/CorFlowUseMinEigenVals, Vis/CorFlowMinEigThreshold, Vis/CorFlowErrorThreshold. Renamed Stereo/GetMinEigenVals to Stereo/UseMinEigenVals

* Setting suggested default value of 20 for Vis/CorFlowErrorThreshold

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Borong Yuan
2026-03-18 12:53:14 +08:00
committed by GitHub
parent 0151f8cdfb
commit 5b985f69be
7 changed files with 318 additions and 89 deletions
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12
corelib/include/rtabmap/core/Parameters.h
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@@ -740,8 +740,11 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kVisCorType().c_str()));
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
#else
RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
@@ -818,7 +821,10 @@ class RTABMAP_CORE_EXPORT Parameters
RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");

3
corelib/include/rtabmap/core/RegistrationVis.h
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@@ -91,6 +91,9 @@ private:
float _flowEps;
int _flowMaxLevel;
bool _flowGpu;
bool _flowUseMinEigenVals;
float _flowMinEigThreshold;
float _flowErrorThreshold;
float _nndr;
int _nnType;
bool _gmsWithRotation;

9
corelib/include/rtabmap/core/Stereo.h
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@@ -96,16 +96,23 @@ public:
#endif
float epsilon() const {return epsilon_;}
bool usingMinEigenVals() const {return useMinEigenVals_;}
float minEigThreshold() const {return minEigThreshold_;}
float errorThreshold() const {return errorThreshold_;}
virtual bool isGpuEnabled() const;
private:
void updateStatus(
const std::vector<cv::Point2f> & leftCorners,
const std::vector<cv::Point2f> & rightCorners,
std::vector<unsigned char> & status) const;
std::vector<unsigned char> & status,
std::vector<float> err = {}) const;
private:
float epsilon_;
bool useMinEigenVals_;
float minEigThreshold_;
float errorThreshold_;
bool gpu_;
};