So, I have been trying to use VPI for stereo disparity estimation with CUDA backend. I have encountered two specific problems: The parameter maxDisparity of VPIStereoDisparityEstimatorParams struct cannot be set to a value greater than 64. The documentation for CUDA backend does not mention any li…

Hi, This issue is fixed (cuda backend) in the VPI 1.1. You can find the package from JetPack 4.6 already. Thanks.

zed_vpi.cpp (9.4 KB) CMakeLists.txt (2.5 KB) @AastaLLL here it is. You will need a zed camera and zed sdk installed on your jetson for this to run. I hope that’s not a deal breaker.

@AastaLLL Update: The code works fine with pva backend when the input image is resized to (480,270). It also works with CPU although it is painfully slow. Only CUDA backend fails.

Hi, Thanks for your example. We try to reproduce this issue but the StereoDisparityEstimator with CUDA backend works correctly in our environment. The input data is modified to use VPI assets instead. Could you also give it a try? vpi.cpp (7.5 KB) Thanks.

@AastaLLL In the code, you have stripped away all the parts about the zed sdk (which uses cuda) and was causing the issues in the first place. Since you have removed the parts that were causing the trouble, the example works fine, as expected. The problem occurs only when another library that uses …

Hi, We will share the maxDisparity information once we got a feedback from our internal team. For the cudaErrorDeviceUninitialized error: Sorry that we don’t have a ZED camera and this make it hard to reproduce in our environment. Based on your implementation, it’s possible that the zed process(C…

Hi jaiyamsharma, [image] AastaLLL: So could you help to check if zed might access the buffer (for next frame?) when VPI is processing? Any update?

Hi @kayccc , zed sdk is closed source, so I cannot exactly confirm what is going on behind the scenes when data is pulled from the camera. I found an opencv based version of their api which is open source and does not do anything weird behind the scenes. I will have a go with it over the weekend and…

@AastaLLL Thanks. I look forward to your response. Hopefully, this issue can be fixed by vpi 1.0 release scheduled in December.

Hi @kayccc I used opencv based capture from zed camera which does not use zed-sdk. CUDA backend works perfectly well with disparity estimation now. Thanks for helping me out. There is still the issue of maxDisparity which will hopefully be resolved by your internal team soon.

Various problems with VPI stereo disparity estimation algo

Robotics & Edge Computing Jetson Systems Jetson Xavier NX

AastaLLL November 26, 2020, 9:07am 13

Hi,

Our internal team is working on the CUDA backend maxDisparity issue.
Will share more information with you once we have any progress.

Thanks.

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Various problems with VPI stereo disparity estimation algo

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