@SKA , this is most likely due to the max disparity value being too large - for 1280x800 resolution the maximum value is 32.
the max disparity parameter limit is as follows:
width <= 640 : max disparity = 64 (or less, in steps of 4)
640 < width <= 1280 : max disparity 32 (or less in steps of 4)
1280 < width <= 1920: 16, 12,8, or 4
So in your case, you should update your max disparity parameter to 32 or less.
I have been testing AR0144 DFS recently and i also found that i needed to increase the min_threshold and cost_threshold from the default of 10 that was used for OV7251. I found that values in the range of 50-80 produced good results.
Here is some additional information regarding DFS:
min_threshold:
Lower bound for adjusting occlusion cost threshold.
When set to < cost_threshold, the occlusion penalty
is varied linearly from this minimum value from the first row
to the last row.
The last row takes cost_threshold.
Range: 0 to 100
Recommended range: 50 to 75
min_threshold <= cost_threshold
cost_threshold:
Occlusion cost threshold.
The higher the value, more smoothness is enforced.
Range: 0 to 100
Recommended range: 50 to 75
Alex
