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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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guilib/src/PreferencesDialog.cpp
+6
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@@ -1358,6 +1358,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->odom_flow_iterations->setObjectName(Parameters::kVisCorFlowIterations().c_str());
_ui->odom_flow_eps->setObjectName(Parameters::kVisCorFlowEps().c_str());
_ui->odom_flow_gpu->setObjectName(Parameters::kVisCorFlowGpu().c_str());
_ui->odom_flow_useMinEigenVals->setObjectName(Parameters::kVisCorFlowUseMinEigenVals().c_str());
_ui->odom_flow_minEigThreshold->setObjectName(Parameters::kVisCorFlowMinEigThreshold().c_str());
_ui->odom_flow_errorThreshold->setObjectName(Parameters::kVisCorFlowErrorThreshold().c_str());
_ui->loopClosure_bundle->setObjectName(Parameters::kVisBundleAdjustment().c_str());
//RegistrationIcp
@@ -1678,6 +1681,9 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->stereo_maxDisparity->setObjectName(Parameters::kStereoMaxDisparity().c_str());
_ui->stereo_ssd->setObjectName(Parameters::kStereoSSD().c_str());
_ui->stereo_flow_eps->setObjectName(Parameters::kStereoEps().c_str());
_ui->stereo_flow_useMinEigenVals->setObjectName(Parameters::kStereoUseMinEigenVals().c_str());
_ui->stereo_flow_minEigThreshold->setObjectName(Parameters::kStereoMinEigThreshold().c_str());
_ui->stereo_flow_errorThreshold->setObjectName(Parameters::kStereoErrorThreshold().c_str());
_ui->stereo_opticalFlow->setObjectName(Parameters::kStereoOpticalFlow().c_str());
_ui->stereo_flow_gpu->setObjectName(Parameters::kStereoGpu().c_str());