ComfyUI Node
CV Stereo Disparity (WLS filtered)
Disparity from a RECTIFIED stereo pair, cleaned with the ximgproc weighted-least-squares filter: SGBM is run left-to-right AND right-to-left, the two maps are consistency-checked, and the result is smoothed while sticking to the left image's edges. It fills the holes SGBM leaves in low-texture areas WITHOUT inventing structure the way inpainting does - on the example driving pair the valid fraction goes from ~65% to ~95% - and it also outputs a per-pixel confidence map, which is what lets downstream steps keep only trustworthy points ('CV Sample Array At Points' + 'CV Filter Points 3D By Mask'). The pair MUST be rectified first (cv2.stereoRectify + cv2.initUndistortRectifyMap + cv2.remap). Preview with 'Preview CV Array' (normalize / heatmap).
CV Stereo Disparity (WLS filtered)
- left
- right
- disparity
- confidence
- valid
- disparity_raw
◄num_disparities64►
◄block_size7►
◄min_disparity0►
◄modeSGBM (balanced)►
◄wls_lambda8000►
◄wls_sigma_color1.5►
◄uniqueness_ratio10►
◄speckle_window_size100►
◄speckle_range2►
◄lrc_threshold24►
◄depth_discontinuity_radius0►
◄disp12_max_diff-1►
Categoryimage/CV/contrib
Inputs (14)
| Name | Type | Default | Description |
|---|---|---|---|
| left | NPARRAY,IMAGE | Left rectified frame (grayscaled internally). Accepts a ComfyUI IMAGE/MASK directly (frame 0 of a batch) or an NPARRAY. Arithmetic ops (add, multiply, etc.) process the full IMAGE batch when both inputs have the same batch size. | |
| right | NPARRAY,IMAGE | Right rectified frame; resized to left if the sizes differ. Accepts a ComfyUI IMAGE/MASK directly (frame 0 of a batch) or an NPARRAY. Arithmetic ops (add, multiply, etc.) process the full IMAGE batch when both inputs have the same batch size. | |
| num_disparities | INT | 6416–512 | Disparity search range (0..num_disparities), rounded up to a multiple of 16. Larger covers nearer objects / wider baselines but is slower. |
| block_size | INT | 71–21 | Matched block size in pixels (forced odd; 3-11 is typical). Smaller = more detail but noisier. |
| min_disparity | INT | 0-256–256 | Smallest disparity to search from (usually 0). |
| mode | COMBO | SGBM (balanced) | SGBM is the standard; 3-way is faster at lower quality; HH runs the full-scale two-pass (best, slowest). |
| wls_lambda | FLOAT | 80000–100000 | Regularization strength: how strongly the filtered disparity is smoothed towards the edges of the left image. 8000 is the OpenCV-recommended default; larger = smoother, more hole filling, more bleeding across depth edges. |
| wls_sigma_color | FLOAT | 1.50–10 | How sensitive the filter is to left-image edges. 0.8-2.0 is the useful range: too low leaks disparity across object boundaries, too high makes it follow image noise. |
| uniqueness_ratioopt | INT | 100–100 | Margin (%) by which the best match must beat the runner-up to be accepted. |
| speckle_window_sizeopt | INT | 1000–1000 | Largest smooth disparity blob treated as speckle noise and invalidated (0 = off). |
| speckle_rangeopt | INT | 20–64 | Max disparity variation within a speckle component. |
| lrc_thresholdopt | FLOAT | 240–256 | Left-right consistency tolerance in 1/16 pixel units: disagreements above it are marked unconfident and re-filled by the filter. |
| depth_discontinuity_radiusopt | INT | 00–32 | Radius (px) around depth discontinuities used when computing confidence. 0 = the filter's own heuristic (block_size / 2). |
| disp12_max_diffopt | INT | -1-1–64 | SGBM's OWN left-right check, in pixels: matches that disagree by more than this are invalidated before the WLS filter ever sees them. -1 (cv2's default) turns it off and leaves occlusion junk in the map; 1 is the usual setting when the disparity feeds an interpolation or a point cloud. |
Outputs (4)
| Name | Type | Description |
|---|---|---|
| disparity | NPARRAY | HxW float32 WLS-filtered disparity in pixels. |
| confidence | NPARRAY | HxW float32 confidence map, 0-255; low where the two matching directions disagreed (occlusions, texture-less areas). Sample it at your points to reject unreliable 3D. |
| valid | NPARRAY | uint8 0/255 mask of pixels with a valid filtered disparity. |
| disparity_raw | NPARRAY | The unfiltered left-to-right SGBM disparity (float32 pixels) - keep it to show what the filter changed. |