AdityaNG / AdityaNG/Low-Cost-Hardware-Accelerated-Vision-Based-Depth-Perception-for-Real-Time-Applications
Circular Q for frame_skip; avoid clone
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Description
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)
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