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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 <[email protected]>
This commit is contained in:
Borong Yuan
2026-03-17 21:53:14 -07:00
committed by GitHub
co-authored by matlabbe
parent 0151f8cdfb
commit 5b985f69be
7 changed files with 318 additions and 89 deletions
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corelib/src/Stereo.cpp
+22 -6
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@@ -113,6 +113,9 @@ std::vector<cv::Point2f> Stereo::computeCorrespondences(
StereoOpticalFlow::StereoOpticalFlow(const ParametersMap & parameters) :
Stereo(parameters),
epsilon_(Parameters::defaultStereoEps()),
useMinEigenVals_(Parameters::defaultStereoUseMinEigenVals()),
minEigThreshold_(Parameters::defaultStereoMinEigThreshold()),
errorThreshold_(Parameters::defaultStereoErrorThreshold()),
gpu_(Parameters::defaultStereoGpu())
{
this->parseParameters(parameters);
@@ -122,6 +125,9 @@ void StereoOpticalFlow::parseParameters(const ParametersMap & parameters)
{
Stereo::parseParameters(parameters);
Parameters::parse(parameters, Parameters::kStereoEps(), epsilon_);
Parameters::parse(parameters, Parameters::kStereoUseMinEigenVals(), useMinEigenVals_);
Parameters::parse(parameters, Parameters::kStereoMinEigThreshold(), minEigThreshold_);
Parameters::parse(parameters, Parameters::kStereoErrorThreshold(), errorThreshold_);
Parameters::parse(parameters, Parameters::kStereoGpu(), gpu_);
#ifndef HAVE_OPENCV_CUDAOPTFLOW
if(gpu_)
@@ -171,11 +177,18 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
err,
this->winSize(),
this->maxLevel(),
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), epsilon_),
cv::OPTFLOW_LK_GET_MIN_EIGENVALS, 1e-4);
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, this->iterations(), this->epsilon()),
this->usingMinEigenVals() ? cv::OPTFLOW_LK_GET_MIN_EIGENVALS : 0, this->minEigThreshold());
UDEBUG("util2d::calcOpticalFlowPyrLKStereo() end");
}
updateStatus(leftCorners, rightCorners, status);
if(this->usingMinEigenVals())
{
updateStatus(leftCorners, rightCorners, status);
}
else
{
updateStatus(leftCorners, rightCorners, status, err);
}
return rightCorners;
}
@@ -227,14 +240,17 @@ std::vector<cv::Point2f> StereoOpticalFlow::computeCorrespondences(
void StereoOpticalFlow::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
{
UASSERT(leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size());
UASSERT(
leftCorners.size() == rightCorners.size() && status.size() == leftCorners.size() &&
(err.empty() || err.size() == leftCorners.size()));
int countFlowRejected = 0;
int countDisparityRejected = 0;
for(unsigned int i=0; i<status.size(); ++i)
{
if(status[i]!=0)
if(status[i]!=0 && (err.empty() || err[i] < this->errorThreshold()))
{
float disparity = leftCorners[i].x - rightCorners[i].x;
if(disparity <= this->minDisparity() || disparity > this->maxDisparity())