ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login

    DFS undistort issue

    Video and Image Sensors
    2
    2
    45
    Loading More Posts
    • Oldest to Newest
    • Newest to Oldest
    • Most Votes
    Reply
    • Reply as topic
    Log in to reply
    This topic has been deleted. Only users with topic management privileges can see it.
    • S
      SKA
      last edited by SKA

      Hi! I'm trying to set up DFS using ar0144 cameras. I have the voxl-camera-server side working, and I'm able to view the stereo preview stream on voxl-portal. I've set up my extrinsics and intrinsics using voxl-calibrate-cameras and have acceptable reprojection error.
      However, when I run voxl-dfs-server I get these errors:

      ERROR computing undistort on left image in mcv_cvp_undistort_and_dfs_process
      ERROR performing undistort+DFS pipeline
      ERROR computing UD+DFS pipeline on CVP
      

      Whether I enable or disable cvp rectification in the .conf file, I am facing errors. Let me know how I might be able to resolve this, thanks!

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @SKA
        last edited by

        @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

        1 Reply Last reply Reply Quote 0
        • First post
          Last post
        Powered by NodeBB | Contributors