adityang / low-cost-hardware-accelerated-vision-based-depth-perception-for-real-time-applications

CVMI 2022: A library to simplify disparity calculation and 3D depth map generation from a stereo pair

Hi there, I'm Aditya NG!

I work on Computer Vision and Autonomous Robotics Research.

low-cost-hardware-accelerated-vision-based-depth-perception-for-real-time-applications's Issues

Seg fault in clean

Calling clean() leads to a segfault.

Circular Q for frame_skip; avoid clone

https://github.com/AdityaNG/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/blob/2d44ccf521b9f71fe3d3e8d52361bc11516daeb4/src/stereo_vision_v1.2.cu#L541-L555

Cloning images in the main loop is not ideal.
Use a circular Q of size frame+skip to store all frames and disparity maps.

1. Dequeue frame_skip number of frame from oldest frame once disparity is done computing iFrame%frame_skip == frame_skip-1
2. Enqueue new frame as it comes in iFrame%frame_skip == 0

Call all functions on Enqueued frame (latest frame)

Point cloud being plotted always

The draw_points flag is not working and the program plots the point cloud even when -p 0 is passed as an argument to the executable

Next Button Callback name

https://github.com/AdityaNG/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/blob/2d44ccf521b9f71fe3d3e8d52361bc11516daeb4/src/stereo_vision.cu#L619

https://github.com/AdityaNG/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/blob/2d44ccf521b9f71fe3d3e8d52361bc11516daeb4/src/stereo_vision_v1.1.cu#L636

https://github.com/AdityaNG/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/blob/2d44ccf521b9f71fe3d3e8d52361bc11516daeb4/src/stereo_vision_v1.2.cu#L642

Change function name from setCallback to graphing_onNextPressed