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NVIDIA-ISAAC-ROS / isaac_ros_image_pipeline

NVIDIA-accelerated ROS2 packages for camera image processing.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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CUDA Backend maximum disparity bigger than 64 #1

Closed ghost closed 2 years ago

ghost commented 2 years ago

Thank you for your great work! We have tested the package on CUDA backend and it works on maximum disparity 64 fine. We tried to use 128 for maximum disparity but we got whole black disparity image. We have realised, that every number greater than 64 produces whole-black disparity image.

Best Regards

gordongrigor commented 2 years ago

There are two functions to compute disparity, with a CUDA implementation supporting both Jetson, and GPU cards, and a HW implementation which uses separate compute from the integrated GPU on Jetson. Both of these have a max disparity of 256.

We will look to reproduce the problem, and follow-up.

tomasz-lewicki commented 2 years ago

Hi @avenarobotics !

Any chance you have VPI v1.0 installed on your system? You can verify which VPI version you're running by:

sudo apt list --installed | grep vpi

In the past, stereo disparity was limited to 64 levels on CUDA backed. In release v1.1 that was increased to 256 (see release notes here). That would match the behavior you're describing.

hemalshahNV commented 2 years ago

We haven't been able to reproduce the issue yet with the CUDA backend up to 256 with a Realsense D435 on x86_64 or on Jetson with different image resolutions. An older version of VPI is the leading suspect as @tomek-l suggested.

hemalshahNV commented 2 years ago

If this comes up in a later release, please reopen as needed.