Why do you specify cv::OPTFLOW_USE_INITIAL_FLOW in cv::calcOpticalFlowPyrLK?

[erlenner]

Ref:

rpg_svo/svo/src/initialization.cpp

Line 147 in d616106

4, termcrit, cv::OPTFLOW_USE_INITIAL_FLOW);

.

The opencv documentation (https://docs.opencv.org/3.1.0/dc/d6b/group__video__track.html) says OPTFLOW_USE_INITIAL_FLOW should be used when you provide an initial flow estimation, which you don't do. When I try to do the same, I get completely wrong flow estimates, which might be an opencv bug. When I remove the OPTFLOW_USE_INITIAL_FLOW option, the estimation works fine again.

[erlenner]

Might be an issue with my opencv version (4.1.1), but I think you should remove the OPTFLOW_USE_INITIAL_FLOW anyway if you don't use it.