I have to questions about the SemiGlobalMatching node.
I use this node on a Tx2 with 512x256 images where the min-max disparity is about 4-8.
I need this node to work as faster as possible and I tried to achieve better performances changing the min max disparity range.
- Changing max disparity At first I used minDisparity = 0 and maxDisparity = 64 and the node was executed (in average) in 20 ms Then I changed maxDisparity to 32 and the execution time was reduced to 10-12 ms I tried also maxDisparity 16 and the execution time was reduced by an half (it became 6 ms) But when i set maxDisparity to 8 the execution time increased to 20 ms Why this kernel is not so well optimized? Is there a way to reduce execution time changing other parameters?
- Changing min disparity
But as long as I modify the value of minDisparity, Visionworks tells me
min_disparity and max_disparity are too big or too small for the provided image size, min_disparity = 4, max_disparity = 8, width = 512
I tried also with different values of maxDisparity and the problem still remains. It seems Visionworks doesn’t like a minDisparity != 0. Is it possibile? Anyone managed to get this work?
Thank you in advace