We’re working on a project involving some computer vision. Our target platform includes multiple Intel RealSense cameras connected to an NVIDIA Jetson TX2.
The performance issue we’re running into is when we need to register the depth image of one camera to its RGB image, or transform the image of multiple cameras to a common world space. The Intel RealSense library has a function that performs the intra-camera registration (they call it “align”), but it’s simply too slow on the Jetson (200ms per frame). We’re looking for a CUDA implementation of the registration algorithm, either as part of that library or as a standalone component. Intel plans on supporting this in the future, but it would be beyond our preferred timeframe.
Has anyone looked at this, or have any pointers to something we might be able to leverage?