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results_log.txt
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results_log.txt
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SCALE_FACTOR,SUBSAMPLING_MODE,VIDEO_MODE
0.5,0
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=1.499725) (750, 2484) (t_t=0.666789, dmap_t=0.659282, pc_t=0.001157)
(FPS=1.579261) (750, 2484) (t_t=0.633208, dmap_t=0.629184, pc_t=0.000784)
(FPS=1.591200) (750, 2484) (t_t=0.628457, dmap_t=0.624846, pc_t=0.000846)
(FPS=1.599234) (750, 2484) (t_t=0.625299, dmap_t=0.621704, pc_t=0.000829)
(FPS=1.594400) (750, 2484) (t_t=0.627195, dmap_t=0.623631, pc_t=0.000843)
(FPS=1.593883) (750, 2484) (t_t=0.627399, dmap_t=0.623746, pc_t=0.000852)
(FPS=1.576328) (750, 2484) (t_t=0.634386, dmap_t=0.630463, pc_t=0.000862)
(FPS=1.606858) (750, 2484) (t_t=0.622333, dmap_t=0.618844, pc_t=0.000804)
(FPS=1.608560) (750, 2484) (t_t=0.621674, dmap_t=0.618090, pc_t=0.000847)
(FPS=1.587990) (750, 2484) (t_t=0.629727, dmap_t=0.626052, pc_t=0.000822)
(FPS=1.617126) (750, 2484) (t_t=0.618381, dmap_t=0.614911, pc_t=0.000840)
(FPS=1.576194) (750, 2484) (t_t=0.634440, dmap_t=0.630904, pc_t=0.000817)
(FPS=1.362286) (750, 2484) (t_t=0.734060, dmap_t=0.729661, pc_t=0.001706)
(FPS=1.277517) (750, 2484) (t_t=0.782768, dmap_t=0.778420, pc_t=0.001048)
(FPS=1.223308) (750, 2484) (t_t=0.817455, dmap_t=0.812969, pc_t=0.000938)
(FPS=1.291789) (750, 2484) (t_t=0.774120, dmap_t=0.770320, pc_t=0.000819)
(FPS=1.308269) (750, 2484) (t_t=0.764369, dmap_t=0.760358, pc_t=0.001067)
(FPS=1.329025) (750, 2484) (t_t=0.752431, dmap_t=0.748333, pc_t=0.000848)
(FPS=1.292441) (750, 2484) (t_t=0.773730, dmap_t=0.768924, pc_t=0.000837)
(FPS=1.302009) (750, 2484) (t_t=0.768044, dmap_t=0.762692, pc_t=0.000860)
(FPS=1.256823) (750, 2484) (t_t=0.795657, dmap_t=0.791669, pc_t=0.001067)
AVG_FPS=1.460678
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=1.818009) (750, 2484) (t_t=0.550052, dmap_t=0.537260, pc_t=0.001821)
(FPS=2.110756) (750, 2484) (t_t=0.473764, dmap_t=0.468572, pc_t=0.000836)
(FPS=2.127249) (750, 2484) (t_t=0.470091, dmap_t=0.466408, pc_t=0.000883)
(FPS=2.168494) (750, 2484) (t_t=0.461150, dmap_t=0.457484, pc_t=0.000800)
(FPS=2.134134) (750, 2484) (t_t=0.468574, dmap_t=0.465113, pc_t=0.000818)
(FPS=2.147986) (750, 2484) (t_t=0.465552, dmap_t=0.461882, pc_t=0.000828)
(FPS=2.112058) (750, 2484) (t_t=0.473472, dmap_t=0.469923, pc_t=0.000857)
(FPS=2.133468) (750, 2484) (t_t=0.468721, dmap_t=0.465162, pc_t=0.000854)
(FPS=2.115804) (750, 2484) (t_t=0.472634, dmap_t=0.469073, pc_t=0.000849)
(FPS=2.105169) (750, 2484) (t_t=0.475021, dmap_t=0.471314, pc_t=0.000847)
(FPS=2.137175) (750, 2484) (t_t=0.467907, dmap_t=0.464180, pc_t=0.000846)
(FPS=2.205460) (750, 2484) (t_t=0.453420, dmap_t=0.449768, pc_t=0.000839)
(FPS=2.119812) (750, 2484) (t_t=0.471740, dmap_t=0.468124, pc_t=0.000904)
(FPS=2.132394) (750, 2484) (t_t=0.468956, dmap_t=0.465426, pc_t=0.000846)
(FPS=2.150805) (750, 2484) (t_t=0.464942, dmap_t=0.461358, pc_t=0.000837)
(FPS=2.145001) (750, 2484) (t_t=0.466200, dmap_t=0.462471, pc_t=0.000841)
(FPS=2.165831) (750, 2484) (t_t=0.461717, dmap_t=0.458158, pc_t=0.000865)
(FPS=1.959375) (750, 2484) (t_t=0.510367, dmap_t=0.506686, pc_t=0.000813)
(FPS=2.094783) (750, 2484) (t_t=0.477376, dmap_t=0.473715, pc_t=0.000862)
(FPS=1.983456) (750, 2484) (t_t=0.504170, dmap_t=0.500671, pc_t=0.000807)
(FPS=1.957934) (750, 2484) (t_t=0.510743, dmap_t=0.507163, pc_t=0.000849)
AVG_FPS=2.096436
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=2.226501) (750, 2484) (t_t=0.449135, dmap_t=0.423389, pc_t=0.021370)
(FPS=2.469937) (750, 2484) (t_t=0.404869, dmap_t=0.391450, pc_t=0.010654)
(FPS=2.575942) (750, 2484) (t_t=0.388208, dmap_t=0.374855, pc_t=0.010599)
(FPS=2.519769) (750, 2484) (t_t=0.396862, dmap_t=0.383482, pc_t=0.010618)
(FPS=2.546696) (750, 2484) (t_t=0.392666, dmap_t=0.378960, pc_t=0.010915)
(FPS=2.535508) (750, 2484) (t_t=0.394398, dmap_t=0.381115, pc_t=0.010592)
(FPS=2.594617) (750, 2484) (t_t=0.385413, dmap_t=0.372045, pc_t=0.010606)
(FPS=2.583940) (750, 2484) (t_t=0.387006, dmap_t=0.373644, pc_t=0.010623)
(FPS=2.547317) (750, 2484) (t_t=0.392570, dmap_t=0.378858, pc_t=0.010942)
(FPS=2.589085) (750, 2484) (t_t=0.386237, dmap_t=0.372888, pc_t=0.010582)
(FPS=2.566119) (750, 2484) (t_t=0.389694, dmap_t=0.376336, pc_t=0.010599)
(FPS=2.573605) (750, 2484) (t_t=0.388560, dmap_t=0.375251, pc_t=0.010634)
(FPS=2.606312) (750, 2484) (t_t=0.383684, dmap_t=0.370346, pc_t=0.010581)
(FPS=2.491936) (750, 2484) (t_t=0.401294, dmap_t=0.387906, pc_t=0.010638)
(FPS=2.484812) (750, 2484) (t_t=0.402445, dmap_t=0.388889, pc_t=0.010623)
(FPS=2.384185) (750, 2484) (t_t=0.419431, dmap_t=0.393566, pc_t=0.023148)
(FPS=2.437030) (750, 2484) (t_t=0.410336, dmap_t=0.396917, pc_t=0.010590)
(FPS=2.438047) (750, 2484) (t_t=0.410164, dmap_t=0.396830, pc_t=0.010636)
(FPS=2.409567) (750, 2484) (t_t=0.415012, dmap_t=0.401679, pc_t=0.010603)
(FPS=2.407866) (750, 2484) (t_t=0.415305, dmap_t=0.401928, pc_t=0.010611)
(FPS=2.415890) (750, 2484) (t_t=0.413926, dmap_t=0.400619, pc_t=0.010587)
AVG_FPS=2.495461
Program exitted successfully!
0.5,1
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=3.861247) (750, 2484) (t_t=0.258984, dmap_t=0.250174, pc_t=0.001346)
(FPS=4.161531) (750, 2484) (t_t=0.240296, dmap_t=0.236193, pc_t=0.000804)
(FPS=4.420794) (750, 2484) (t_t=0.226204, dmap_t=0.222614, pc_t=0.000827)
(FPS=4.566176) (750, 2484) (t_t=0.219002, dmap_t=0.215397, pc_t=0.000841)
(FPS=4.569342) (750, 2484) (t_t=0.218850, dmap_t=0.215274, pc_t=0.000867)
(FPS=4.545979) (750, 2484) (t_t=0.219975, dmap_t=0.216377, pc_t=0.000828)
(FPS=4.556179) (750, 2484) (t_t=0.219482, dmap_t=0.215994, pc_t=0.000835)
(FPS=4.567926) (750, 2484) (t_t=0.218918, dmap_t=0.215301, pc_t=0.000872)
(FPS=4.626148) (750, 2484) (t_t=0.216163, dmap_t=0.212601, pc_t=0.000839)
(FPS=4.565582) (750, 2484) (t_t=0.219030, dmap_t=0.215444, pc_t=0.000839)
(FPS=4.652063) (750, 2484) (t_t=0.214958, dmap_t=0.211369, pc_t=0.000821)
(FPS=4.640076) (750, 2484) (t_t=0.215514, dmap_t=0.211941, pc_t=0.000841)
(FPS=4.590140) (750, 2484) (t_t=0.217858, dmap_t=0.214347, pc_t=0.000786)
(FPS=4.422240) (750, 2484) (t_t=0.226130, dmap_t=0.222539, pc_t=0.000836)
(FPS=4.453627) (750, 2484) (t_t=0.224536, dmap_t=0.220928, pc_t=0.000851)
(FPS=4.365546) (750, 2484) (t_t=0.229066, dmap_t=0.225441, pc_t=0.000881)
(FPS=4.301106) (750, 2484) (t_t=0.232498, dmap_t=0.228940, pc_t=0.000881)
(FPS=4.226998) (750, 2484) (t_t=0.236575, dmap_t=0.233031, pc_t=0.000812)
(FPS=4.217951) (750, 2484) (t_t=0.237082, dmap_t=0.233534, pc_t=0.000854)
(FPS=4.170795) (750, 2484) (t_t=0.239762, dmap_t=0.236128, pc_t=0.000820)
(FPS=4.135395) (750, 2484) (t_t=0.241815, dmap_t=0.238204, pc_t=0.000836)
AVG_FPS=4.410326
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=4.614230) (750, 2484) (t_t=0.216721, dmap_t=0.204925, pc_t=0.001338)
(FPS=5.248091) (750, 2484) (t_t=0.190545, dmap_t=0.186316, pc_t=0.000796)
(FPS=5.292009) (750, 2484) (t_t=0.188964, dmap_t=0.185416, pc_t=0.000822)
(FPS=5.344280) (750, 2484) (t_t=0.187116, dmap_t=0.183334, pc_t=0.000820)
(FPS=5.258976) (750, 2484) (t_t=0.190151, dmap_t=0.186569, pc_t=0.000856)
(FPS=5.317784) (750, 2484) (t_t=0.188048, dmap_t=0.184319, pc_t=0.000825)
(FPS=5.300668) (750, 2484) (t_t=0.188655, dmap_t=0.185101, pc_t=0.000848)
(FPS=5.434947) (750, 2484) (t_t=0.183994, dmap_t=0.180487, pc_t=0.000801)
(FPS=5.301910) (750, 2484) (t_t=0.188611, dmap_t=0.185093, pc_t=0.000845)
(FPS=5.416405) (750, 2484) (t_t=0.184624, dmap_t=0.180903, pc_t=0.000827)
(FPS=5.510048) (750, 2484) (t_t=0.181487, dmap_t=0.177928, pc_t=0.000851)
(FPS=5.547441) (750, 2484) (t_t=0.180263, dmap_t=0.176440, pc_t=0.000928)
(FPS=5.354876) (750, 2484) (t_t=0.186746, dmap_t=0.183213, pc_t=0.000847)
(FPS=5.355830) (750, 2484) (t_t=0.186712, dmap_t=0.183120, pc_t=0.000863)
(FPS=5.226317) (750, 2484) (t_t=0.191339, dmap_t=0.187769, pc_t=0.000841)
(FPS=5.318696) (750, 2484) (t_t=0.188016, dmap_t=0.184313, pc_t=0.000846)
(FPS=5.236422) (750, 2484) (t_t=0.190970, dmap_t=0.187434, pc_t=0.000847)
(FPS=5.180665) (750, 2484) (t_t=0.193025, dmap_t=0.189345, pc_t=0.000811)
(FPS=5.089671) (750, 2484) (t_t=0.196476, dmap_t=0.192956, pc_t=0.000869)
(FPS=5.127117) (750, 2484) (t_t=0.195041, dmap_t=0.191512, pc_t=0.000784)
(FPS=5.163980) (750, 2484) (t_t=0.193649, dmap_t=0.190120, pc_t=0.000841)
AVG_FPS=5.268588
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1968.4878, 0, 1380;
0, 1961.6282, 466.3932;
0, 0, 1]
Scaled K2: [1979.0534, 0, 1404;
0, 1975.6772, 491.118;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=4.802444) (750, 2484) (t_t=0.208227, dmap_t=0.177522, pc_t=0.025868)
(FPS=5.551736) (750, 2484) (t_t=0.180124, dmap_t=0.163878, pc_t=0.012726)
(FPS=5.570181) (750, 2484) (t_t=0.179527, dmap_t=0.162443, pc_t=0.013643)
(FPS=5.748344) (750, 2484) (t_t=0.173963, dmap_t=0.158051, pc_t=0.012951)
(FPS=5.120127) (750, 2484) (t_t=0.195308, dmap_t=0.179575, pc_t=0.012831)
(FPS=5.645634) (750, 2484) (t_t=0.177128, dmap_t=0.160502, pc_t=0.013488)
(FPS=5.796449) (750, 2484) (t_t=0.172519, dmap_t=0.156471, pc_t=0.012992)
(FPS=5.791999) (750, 2484) (t_t=0.172652, dmap_t=0.155715, pc_t=0.013956)
(FPS=5.810562) (750, 2484) (t_t=0.172100, dmap_t=0.155352, pc_t=0.013716)
(FPS=5.831099) (750, 2484) (t_t=0.171494, dmap_t=0.154691, pc_t=0.013961)
(FPS=5.920312) (750, 2484) (t_t=0.168910, dmap_t=0.153374, pc_t=0.012605)
(FPS=5.912591) (750, 2484) (t_t=0.169131, dmap_t=0.153015, pc_t=0.013219)
(FPS=5.815110) (750, 2484) (t_t=0.171966, dmap_t=0.155911, pc_t=0.013077)
(FPS=5.733089) (750, 2484) (t_t=0.174426, dmap_t=0.158555, pc_t=0.012741)
(FPS=5.742122) (750, 2484) (t_t=0.174152, dmap_t=0.158629, pc_t=0.012652)
(FPS=5.709248) (750, 2484) (t_t=0.175154, dmap_t=0.159749, pc_t=0.012600)
(FPS=5.697513) (750, 2484) (t_t=0.175515, dmap_t=0.159830, pc_t=0.012902)
(FPS=5.682575) (750, 2484) (t_t=0.175977, dmap_t=0.160631, pc_t=0.012592)
(FPS=5.583749) (750, 2484) (t_t=0.179091, dmap_t=0.163800, pc_t=0.012580)
(FPS=5.593269) (750, 2484) (t_t=0.178786, dmap_t=0.163414, pc_t=0.012628)
(FPS=5.593603) (750, 2484) (t_t=0.178776, dmap_t=0.163025, pc_t=0.012931)
AVG_FPS=5.650083
Program exitted successfully!
0.6,0
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=2.107964) (625, 2070) (t_t=0.474391, dmap_t=0.465095, pc_t=0.000829)
(FPS=2.232195) (625, 2070) (t_t=0.447990, dmap_t=0.444680, pc_t=0.000625)
(FPS=2.238076) (625, 2070) (t_t=0.446812, dmap_t=0.444058, pc_t=0.000659)
(FPS=2.275518) (625, 2070) (t_t=0.439460, dmap_t=0.436711, pc_t=0.000657)
(FPS=2.257642) (625, 2070) (t_t=0.442940, dmap_t=0.440213, pc_t=0.000660)
(FPS=2.247390) (625, 2070) (t_t=0.444961, dmap_t=0.442091, pc_t=0.000632)
(FPS=2.231123) (625, 2070) (t_t=0.448205, dmap_t=0.445488, pc_t=0.000668)
(FPS=2.258057) (625, 2070) (t_t=0.442859, dmap_t=0.440140, pc_t=0.000629)
(FPS=2.278437) (625, 2070) (t_t=0.438897, dmap_t=0.436085, pc_t=0.000647)
(FPS=2.266875) (625, 2070) (t_t=0.441136, dmap_t=0.438448, pc_t=0.000574)
(FPS=2.237588) (625, 2070) (t_t=0.446910, dmap_t=0.444178, pc_t=0.000656)
(FPS=2.272482) (625, 2070) (t_t=0.440047, dmap_t=0.437285, pc_t=0.000663)
(FPS=2.257746) (625, 2070) (t_t=0.442920, dmap_t=0.440204, pc_t=0.000654)
(FPS=2.203497) (625, 2070) (t_t=0.453824, dmap_t=0.451122, pc_t=0.000594)
(FPS=2.206173) (625, 2070) (t_t=0.453274, dmap_t=0.450590, pc_t=0.000680)
(FPS=2.162761) (625, 2070) (t_t=0.462372, dmap_t=0.459592, pc_t=0.000706)
(FPS=2.126601) (625, 2070) (t_t=0.470234, dmap_t=0.467542, pc_t=0.000622)
(FPS=2.107186) (625, 2070) (t_t=0.474566, dmap_t=0.471790, pc_t=0.000667)
(FPS=2.108852) (625, 2070) (t_t=0.474192, dmap_t=0.471407, pc_t=0.000633)
(FPS=2.078574) (625, 2070) (t_t=0.481099, dmap_t=0.478386, pc_t=0.000630)
(FPS=2.060977) (625, 2070) (t_t=0.485207, dmap_t=0.482389, pc_t=0.000706)
AVG_FPS=2.200748
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=2.846683) (625, 2070) (t_t=0.351286, dmap_t=0.344516, pc_t=0.000808)
(FPS=3.145263) (625, 2070) (t_t=0.317938, dmap_t=0.314600, pc_t=0.000628)
(FPS=3.145506) (625, 2070) (t_t=0.317914, dmap_t=0.315207, pc_t=0.000665)
(FPS=3.155053) (625, 2070) (t_t=0.316952, dmap_t=0.314215, pc_t=0.000593)
(FPS=3.099225) (625, 2070) (t_t=0.322661, dmap_t=0.319883, pc_t=0.000680)
(FPS=3.064648) (625, 2070) (t_t=0.326302, dmap_t=0.323570, pc_t=0.000627)
(FPS=3.098192) (625, 2070) (t_t=0.322769, dmap_t=0.320034, pc_t=0.000643)
(FPS=3.125232) (625, 2070) (t_t=0.319976, dmap_t=0.317201, pc_t=0.000662)
(FPS=3.092539) (625, 2070) (t_t=0.323359, dmap_t=0.320624, pc_t=0.000673)
(FPS=3.124054) (625, 2070) (t_t=0.320097, dmap_t=0.317349, pc_t=0.000660)
(FPS=3.116110) (625, 2070) (t_t=0.320913, dmap_t=0.318151, pc_t=0.000689)
(FPS=3.083132) (625, 2070) (t_t=0.324346, dmap_t=0.321563, pc_t=0.000619)
(FPS=3.086117) (625, 2070) (t_t=0.324032, dmap_t=0.321314, pc_t=0.000654)
(FPS=3.044579) (625, 2070) (t_t=0.328453, dmap_t=0.325689, pc_t=0.000622)
(FPS=3.094974) (625, 2070) (t_t=0.323105, dmap_t=0.320386, pc_t=0.000667)
(FPS=3.111287) (625, 2070) (t_t=0.321410, dmap_t=0.318602, pc_t=0.000648)
(FPS=3.133959) (625, 2070) (t_t=0.319085, dmap_t=0.316253, pc_t=0.000683)
(FPS=3.092189) (625, 2070) (t_t=0.323396, dmap_t=0.320673, pc_t=0.000619)
(FPS=3.042656) (625, 2070) (t_t=0.328660, dmap_t=0.325937, pc_t=0.000656)
(FPS=3.110416) (625, 2070) (t_t=0.321500, dmap_t=0.318714, pc_t=0.000627)
(FPS=3.079473) (625, 2070) (t_t=0.324731, dmap_t=0.322006, pc_t=0.000658)
AVG_FPS=3.090061
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=3.448513) (625, 2070) (t_t=0.289980, dmap_t=0.271690, pc_t=0.014739)
(FPS=3.710766) (625, 2070) (t_t=0.269486, dmap_t=0.259903, pc_t=0.007521)
(FPS=3.708968) (625, 2070) (t_t=0.269617, dmap_t=0.259833, pc_t=0.007624)
(FPS=3.634889) (625, 2070) (t_t=0.275112, dmap_t=0.265382, pc_t=0.007552)
(FPS=3.736783) (625, 2070) (t_t=0.267610, dmap_t=0.258068, pc_t=0.007518)
(FPS=3.727645) (625, 2070) (t_t=0.268266, dmap_t=0.258679, pc_t=0.007520)
(FPS=3.723652) (625, 2070) (t_t=0.268554, dmap_t=0.258970, pc_t=0.007500)
(FPS=3.747341) (625, 2070) (t_t=0.266856, dmap_t=0.257279, pc_t=0.007529)
(FPS=3.706488) (625, 2070) (t_t=0.269797, dmap_t=0.260200, pc_t=0.007494)
(FPS=3.780369) (625, 2070) (t_t=0.264524, dmap_t=0.254941, pc_t=0.007506)
(FPS=3.767408) (625, 2070) (t_t=0.265434, dmap_t=0.256000, pc_t=0.007467)
(FPS=3.726721) (625, 2070) (t_t=0.268332, dmap_t=0.258843, pc_t=0.007502)
(FPS=3.711645) (625, 2070) (t_t=0.269422, dmap_t=0.259820, pc_t=0.007514)
(FPS=3.699200) (625, 2070) (t_t=0.270329, dmap_t=0.260736, pc_t=0.007545)
(FPS=3.632071) (625, 2070) (t_t=0.275325, dmap_t=0.265663, pc_t=0.007483)
(FPS=3.613567) (625, 2070) (t_t=0.276735, dmap_t=0.267174, pc_t=0.007502)
(FPS=3.572256) (625, 2070) (t_t=0.279935, dmap_t=0.270353, pc_t=0.007535)
(FPS=3.535742) (625, 2070) (t_t=0.282826, dmap_t=0.273280, pc_t=0.007580)
(FPS=3.558989) (625, 2070) (t_t=0.280979, dmap_t=0.271347, pc_t=0.007522)
(FPS=3.509796) (625, 2070) (t_t=0.284917, dmap_t=0.275343, pc_t=0.007535)
(FPS=3.486603) (625, 2070) (t_t=0.286812, dmap_t=0.277255, pc_t=0.007506)
AVG_FPS=3.654257
Program exitted successfully!
0.6,1
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=5.246077) (625, 2070) (t_t=0.190619, dmap_t=0.185299, pc_t=0.000980)
(FPS=5.768950) (625, 2070) (t_t=0.173342, dmap_t=0.169959, pc_t=0.000640)
(FPS=5.798402) (625, 2070) (t_t=0.172461, dmap_t=0.169681, pc_t=0.000678)
(FPS=5.823061) (625, 2070) (t_t=0.171731, dmap_t=0.169095, pc_t=0.000615)
(FPS=5.836596) (625, 2070) (t_t=0.171333, dmap_t=0.168651, pc_t=0.000654)
(FPS=5.822593) (625, 2070) (t_t=0.171745, dmap_t=0.169099, pc_t=0.000655)
(FPS=5.806945) (625, 2070) (t_t=0.172208, dmap_t=0.169439, pc_t=0.000703)
(FPS=5.849494) (625, 2070) (t_t=0.170955, dmap_t=0.168225, pc_t=0.000629)
(FPS=5.884924) (625, 2070) (t_t=0.169926, dmap_t=0.167182, pc_t=0.000696)
(FPS=5.909107) (625, 2070) (t_t=0.169230, dmap_t=0.166524, pc_t=0.000628)
(FPS=5.941009) (625, 2070) (t_t=0.168322, dmap_t=0.165597, pc_t=0.000674)
(FPS=5.956677) (625, 2070) (t_t=0.167879, dmap_t=0.165164, pc_t=0.000635)
(FPS=5.887104) (625, 2070) (t_t=0.169863, dmap_t=0.167154, pc_t=0.000664)
(FPS=5.735060) (625, 2070) (t_t=0.174366, dmap_t=0.171646, pc_t=0.000637)
(FPS=5.776403) (625, 2070) (t_t=0.173118, dmap_t=0.170423, pc_t=0.000670)
(FPS=5.621834) (625, 2070) (t_t=0.177878, dmap_t=0.175192, pc_t=0.000633)
(FPS=5.584435) (625, 2070) (t_t=0.179069, dmap_t=0.176362, pc_t=0.000653)
(FPS=5.497322) (625, 2070) (t_t=0.181907, dmap_t=0.179176, pc_t=0.000633)
(FPS=5.484310) (625, 2070) (t_t=0.182338, dmap_t=0.179582, pc_t=0.000676)
(FPS=5.428269) (625, 2070) (t_t=0.184221, dmap_t=0.181424, pc_t=0.000708)
(FPS=5.368291) (625, 2070) (t_t=0.186279, dmap_t=0.183591, pc_t=0.000672)
AVG_FPS=5.715566
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=6.582217) (625, 2070) (t_t=0.151924, dmap_t=0.146307, pc_t=0.000942)
(FPS=7.406124) (625, 2070) (t_t=0.135023, dmap_t=0.131750, pc_t=0.000592)
(FPS=7.692543) (625, 2070) (t_t=0.129996, dmap_t=0.127351, pc_t=0.000660)
(FPS=7.690962) (625, 2070) (t_t=0.130023, dmap_t=0.127326, pc_t=0.000661)
(FPS=7.504090) (625, 2070) (t_t=0.133261, dmap_t=0.130579, pc_t=0.000656)
(FPS=7.622788) (625, 2070) (t_t=0.131186, dmap_t=0.128300, pc_t=0.000744)
(FPS=7.559363) (625, 2070) (t_t=0.132286, dmap_t=0.129691, pc_t=0.000631)
(FPS=7.643301) (625, 2070) (t_t=0.130834, dmap_t=0.128081, pc_t=0.000658)
(FPS=7.553821) (625, 2070) (t_t=0.132383, dmap_t=0.129734, pc_t=0.000666)
(FPS=7.685918) (625, 2070) (t_t=0.130108, dmap_t=0.127485, pc_t=0.000626)
(FPS=7.673315) (625, 2070) (t_t=0.130322, dmap_t=0.127677, pc_t=0.000634)
(FPS=7.732913) (625, 2070) (t_t=0.129317, dmap_t=0.126620, pc_t=0.000628)
(FPS=7.701657) (625, 2070) (t_t=0.129842, dmap_t=0.127165, pc_t=0.000678)
(FPS=7.455524) (625, 2070) (t_t=0.134129, dmap_t=0.131393, pc_t=0.000641)
(FPS=7.555240) (625, 2070) (t_t=0.132358, dmap_t=0.129714, pc_t=0.000648)
(FPS=7.548794) (625, 2070) (t_t=0.132471, dmap_t=0.129764, pc_t=0.000625)
(FPS=7.530462) (625, 2070) (t_t=0.132794, dmap_t=0.130176, pc_t=0.000667)
(FPS=7.281464) (625, 2070) (t_t=0.137335, dmap_t=0.134726, pc_t=0.000618)
(FPS=7.259603) (625, 2070) (t_t=0.137749, dmap_t=0.135101, pc_t=0.000610)
(FPS=7.242851) (625, 2070) (t_t=0.138067, dmap_t=0.135442, pc_t=0.000655)
(FPS=7.272641) (625, 2070) (t_t=0.137502, dmap_t=0.134876, pc_t=0.000656)
AVG_FPS=7.485503
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1640.406434816105, 0, 1149.999954303107;
0, 1634.690101709918, 388.6609845560001;
0, 0, 1]
Scaled K2: [1649.211101132905, 0, 1169.999953508379;
0, 1646.397601244704, 409.2649837372707;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=7.380645) (625, 2070) (t_t=0.135490, dmap_t=0.115843, pc_t=0.016374)
(FPS=8.250213) (625, 2070) (t_t=0.121209, dmap_t=0.110309, pc_t=0.008869)
(FPS=8.251933) (625, 2070) (t_t=0.121184, dmap_t=0.109980, pc_t=0.009161)
(FPS=8.295855) (625, 2070) (t_t=0.120542, dmap_t=0.109650, pc_t=0.008835)
(FPS=8.336676) (625, 2070) (t_t=0.119952, dmap_t=0.109028, pc_t=0.008776)
(FPS=8.387014) (625, 2070) (t_t=0.119232, dmap_t=0.108013, pc_t=0.009146)
(FPS=8.377715) (625, 2070) (t_t=0.119364, dmap_t=0.108551, pc_t=0.008827)
(FPS=8.382765) (625, 2070) (t_t=0.119292, dmap_t=0.108410, pc_t=0.008851)
(FPS=8.379191) (625, 2070) (t_t=0.119343, dmap_t=0.108538, pc_t=0.008808)
(FPS=8.464862) (625, 2070) (t_t=0.118135, dmap_t=0.107021, pc_t=0.009069)
(FPS=8.525510) (625, 2070) (t_t=0.117295, dmap_t=0.106507, pc_t=0.008809)
(FPS=8.475801) (625, 2070) (t_t=0.117983, dmap_t=0.107061, pc_t=0.008792)
(FPS=8.477510) (625, 2070) (t_t=0.117959, dmap_t=0.107178, pc_t=0.008816)
(FPS=8.269745) (625, 2070) (t_t=0.120923, dmap_t=0.110028, pc_t=0.008796)
(FPS=8.292217) (625, 2070) (t_t=0.120595, dmap_t=0.109757, pc_t=0.008846)
(FPS=8.142065) (625, 2070) (t_t=0.122819, dmap_t=0.112042, pc_t=0.008817)
(FPS=8.116618) (625, 2070) (t_t=0.123204, dmap_t=0.112380, pc_t=0.008832)
(FPS=7.995182) (625, 2070) (t_t=0.125075, dmap_t=0.114307, pc_t=0.008765)
(FPS=8.001969) (625, 2070) (t_t=0.124969, dmap_t=0.114142, pc_t=0.008885)
(FPS=7.903713) (625, 2070) (t_t=0.126523, dmap_t=0.115307, pc_t=0.009087)
(FPS=7.904603) (625, 2070) (t_t=0.126509, dmap_t=0.115769, pc_t=0.008770)
AVG_FPS=8.219609
Program exitted successfully!
0.7,0
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=2.822073) (535, 1774) (t_t=0.354349, dmap_t=0.347270, pc_t=0.000771)
(FPS=3.077243) (535, 1774) (t_t=0.324966, dmap_t=0.322031, pc_t=0.000593)
(FPS=3.087298) (535, 1774) (t_t=0.323908, dmap_t=0.321578, pc_t=0.000551)
(FPS=3.100325) (535, 1774) (t_t=0.322547, dmap_t=0.320246, pc_t=0.000569)
(FPS=3.087416) (535, 1774) (t_t=0.323895, dmap_t=0.321505, pc_t=0.000572)
(FPS=3.053681) (535, 1774) (t_t=0.327474, dmap_t=0.325218, pc_t=0.000550)
(FPS=3.020418) (535, 1774) (t_t=0.331080, dmap_t=0.328757, pc_t=0.000577)
(FPS=3.084591) (535, 1774) (t_t=0.324192, dmap_t=0.321916, pc_t=0.000572)
(FPS=3.074668) (535, 1774) (t_t=0.325238, dmap_t=0.322892, pc_t=0.000580)
(FPS=3.078632) (535, 1774) (t_t=0.324820, dmap_t=0.322538, pc_t=0.000565)
(FPS=3.109465) (535, 1774) (t_t=0.321599, dmap_t=0.319334, pc_t=0.000578)
(FPS=3.112467) (535, 1774) (t_t=0.321289, dmap_t=0.318914, pc_t=0.000560)
(FPS=3.069210) (535, 1774) (t_t=0.325817, dmap_t=0.323451, pc_t=0.000608)
(FPS=3.008156) (535, 1774) (t_t=0.332430, dmap_t=0.330143, pc_t=0.000517)
(FPS=2.985553) (535, 1774) (t_t=0.334946, dmap_t=0.332534, pc_t=0.000602)
(FPS=2.952564) (535, 1774) (t_t=0.338689, dmap_t=0.336332, pc_t=0.000552)
(FPS=2.925166) (535, 1774) (t_t=0.341861, dmap_t=0.339552, pc_t=0.000578)
(FPS=2.877002) (535, 1774) (t_t=0.347584, dmap_t=0.345325, pc_t=0.000538)
(FPS=2.884225) (535, 1774) (t_t=0.346714, dmap_t=0.344400, pc_t=0.000567)
(FPS=2.859810) (535, 1774) (t_t=0.349674, dmap_t=0.347402, pc_t=0.000568)
(FPS=2.835633) (535, 1774) (t_t=0.352655, dmap_t=0.350373, pc_t=0.000543)
AVG_FPS=3.005028
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=3.854812) (535, 1774) (t_t=0.259416, dmap_t=0.254720, pc_t=0.000905)
(FPS=4.362377) (535, 1774) (t_t=0.229233, dmap_t=0.226291, pc_t=0.000551)
(FPS=4.293641) (535, 1774) (t_t=0.232903, dmap_t=0.230528, pc_t=0.000581)
(FPS=4.370365) (535, 1774) (t_t=0.228814, dmap_t=0.226557, pc_t=0.000517)
(FPS=4.375322) (535, 1774) (t_t=0.228555, dmap_t=0.226269, pc_t=0.000582)
(FPS=4.289602) (535, 1774) (t_t=0.233122, dmap_t=0.230781, pc_t=0.000572)
(FPS=4.342072) (535, 1774) (t_t=0.230305, dmap_t=0.228040, pc_t=0.000546)
(FPS=4.357703) (535, 1774) (t_t=0.229479, dmap_t=0.227194, pc_t=0.000571)
(FPS=4.349002) (535, 1774) (t_t=0.229938, dmap_t=0.227497, pc_t=0.000607)
(FPS=4.302386) (535, 1774) (t_t=0.232429, dmap_t=0.230090, pc_t=0.000584)
(FPS=4.242214) (535, 1774) (t_t=0.235726, dmap_t=0.233353, pc_t=0.000569)
(FPS=4.328562) (535, 1774) (t_t=0.231024, dmap_t=0.228729, pc_t=0.000568)
(FPS=4.258705) (535, 1774) (t_t=0.234813, dmap_t=0.232543, pc_t=0.000589)
(FPS=4.234049) (535, 1774) (t_t=0.236181, dmap_t=0.233814, pc_t=0.000562)
(FPS=4.252020) (535, 1774) (t_t=0.235182, dmap_t=0.232882, pc_t=0.000541)
(FPS=4.332533) (535, 1774) (t_t=0.230812, dmap_t=0.228491, pc_t=0.000579)
(FPS=4.303116) (535, 1774) (t_t=0.232390, dmap_t=0.230087, pc_t=0.000645)
(FPS=4.259439) (535, 1774) (t_t=0.234773, dmap_t=0.232502, pc_t=0.000549)
(FPS=4.229677) (535, 1774) (t_t=0.236425, dmap_t=0.234156, pc_t=0.000541)
(FPS=4.304228) (535, 1774) (t_t=0.232330, dmap_t=0.230030, pc_t=0.000561)
(FPS=4.250470) (535, 1774) (t_t=0.235268, dmap_t=0.232956, pc_t=0.000574)
AVG_FPS=4.280586
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=4.663470) (535, 1774) (t_t=0.214433, dmap_t=0.200173, pc_t=0.011155)
(FPS=5.097383) (535, 1774) (t_t=0.196179, dmap_t=0.188788, pc_t=0.005707)
(FPS=5.045252) (535, 1774) (t_t=0.198206, dmap_t=0.190748, pc_t=0.005757)
(FPS=5.046052) (535, 1774) (t_t=0.198175, dmap_t=0.190703, pc_t=0.005747)
(FPS=5.099699) (535, 1774) (t_t=0.196090, dmap_t=0.188725, pc_t=0.005655)
(FPS=5.090948) (535, 1774) (t_t=0.196427, dmap_t=0.189054, pc_t=0.005667)
(FPS=5.046048) (535, 1774) (t_t=0.198175, dmap_t=0.190621, pc_t=0.005822)
(FPS=5.100959) (535, 1774) (t_t=0.196042, dmap_t=0.188647, pc_t=0.005703)
(FPS=5.104234) (535, 1774) (t_t=0.195916, dmap_t=0.188460, pc_t=0.005669)
(FPS=5.021789) (535, 1774) (t_t=0.199132, dmap_t=0.191702, pc_t=0.005703)
(FPS=5.185001) (535, 1774) (t_t=0.192864, dmap_t=0.185412, pc_t=0.005643)
(FPS=5.184600) (535, 1774) (t_t=0.192879, dmap_t=0.185477, pc_t=0.005691)
(FPS=5.145926) (535, 1774) (t_t=0.194328, dmap_t=0.186907, pc_t=0.005688)
(FPS=5.005111) (535, 1774) (t_t=0.199796, dmap_t=0.192373, pc_t=0.005660)
(FPS=4.976325) (535, 1774) (t_t=0.200952, dmap_t=0.193576, pc_t=0.005652)
(FPS=4.937943) (535, 1774) (t_t=0.202513, dmap_t=0.195045, pc_t=0.005753)
(FPS=4.792864) (535, 1774) (t_t=0.208644, dmap_t=0.201263, pc_t=0.005667)
(FPS=4.839680) (535, 1774) (t_t=0.206625, dmap_t=0.199164, pc_t=0.005761)
(FPS=4.846752) (535, 1774) (t_t=0.206324, dmap_t=0.198919, pc_t=0.005686)
(FPS=4.804392) (535, 1774) (t_t=0.208143, dmap_t=0.200797, pc_t=0.005680)
(FPS=4.792156) (535, 1774) (t_t=0.208674, dmap_t=0.201288, pc_t=0.005657)
AVG_FPS=4.991742
Program exitted successfully!
0.7,1
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=6.849103) (535, 1774) (t_t=0.146005, dmap_t=0.141060, pc_t=0.000850)
(FPS=7.797243) (535, 1774) (t_t=0.128250, dmap_t=0.125304, pc_t=0.000544)
(FPS=7.861644) (535, 1774) (t_t=0.127200, dmap_t=0.124891, pc_t=0.000576)
(FPS=7.966079) (535, 1774) (t_t=0.125532, dmap_t=0.123272, pc_t=0.000569)
(FPS=7.937768) (535, 1774) (t_t=0.125980, dmap_t=0.123714, pc_t=0.000565)
(FPS=7.927597) (535, 1774) (t_t=0.126142, dmap_t=0.123943, pc_t=0.000513)
(FPS=7.911986) (535, 1774) (t_t=0.126391, dmap_t=0.124186, pc_t=0.000561)
(FPS=7.901139) (535, 1774) (t_t=0.126564, dmap_t=0.124329, pc_t=0.000531)
(FPS=7.946665) (535, 1774) (t_t=0.125839, dmap_t=0.123544, pc_t=0.000578)
(FPS=7.978520) (535, 1774) (t_t=0.125337, dmap_t=0.123088, pc_t=0.000552)
(FPS=8.033979) (535, 1774) (t_t=0.124471, dmap_t=0.122221, pc_t=0.000591)
(FPS=8.091322) (535, 1774) (t_t=0.123589, dmap_t=0.121304, pc_t=0.000545)
(FPS=7.941169) (535, 1774) (t_t=0.125926, dmap_t=0.123699, pc_t=0.000555)
(FPS=7.788752) (535, 1774) (t_t=0.128390, dmap_t=0.126113, pc_t=0.000540)
(FPS=7.742302) (535, 1774) (t_t=0.129161, dmap_t=0.126823, pc_t=0.000562)
(FPS=7.630667) (535, 1774) (t_t=0.131050, dmap_t=0.128667, pc_t=0.000588)
(FPS=7.524437) (535, 1774) (t_t=0.132900, dmap_t=0.130593, pc_t=0.000609)
(FPS=7.486378) (535, 1774) (t_t=0.133576, dmap_t=0.131317, pc_t=0.000534)
(FPS=7.435572) (535, 1774) (t_t=0.134489, dmap_t=0.132197, pc_t=0.000612)
(FPS=7.317860) (535, 1774) (t_t=0.136652, dmap_t=0.134391, pc_t=0.000569)
(FPS=7.221822) (535, 1774) (t_t=0.138469, dmap_t=0.136189, pc_t=0.000544)
AVG_FPS=7.728191
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=7.618186) (535, 1774) (t_t=0.131265, dmap_t=0.123246, pc_t=0.000869)
(FPS=10.050869) (535, 1774) (t_t=0.099494, dmap_t=0.096545, pc_t=0.000561)
(FPS=10.270981) (535, 1774) (t_t=0.097362, dmap_t=0.095030, pc_t=0.000606)
(FPS=10.394997) (535, 1774) (t_t=0.096200, dmap_t=0.093851, pc_t=0.000573)
(FPS=10.329711) (535, 1774) (t_t=0.096808, dmap_t=0.094494, pc_t=0.000589)
(FPS=10.284521) (535, 1774) (t_t=0.097234, dmap_t=0.094944, pc_t=0.000579)
(FPS=10.297546) (535, 1774) (t_t=0.097111, dmap_t=0.094756, pc_t=0.000576)
(FPS=10.317132) (535, 1774) (t_t=0.096926, dmap_t=0.094702, pc_t=0.000531)
(FPS=10.157466) (535, 1774) (t_t=0.098450, dmap_t=0.096067, pc_t=0.000610)
(FPS=10.376229) (535, 1774) (t_t=0.096374, dmap_t=0.093999, pc_t=0.000590)
(FPS=10.173136) (535, 1774) (t_t=0.098298, dmap_t=0.096045, pc_t=0.000573)
(FPS=10.437147) (535, 1774) (t_t=0.095812, dmap_t=0.093541, pc_t=0.000568)
(FPS=10.188797) (535, 1774) (t_t=0.098147, dmap_t=0.095756, pc_t=0.000597)
(FPS=10.089519) (535, 1774) (t_t=0.099113, dmap_t=0.096890, pc_t=0.000554)
(FPS=9.998679) (535, 1774) (t_t=0.100013, dmap_t=0.097735, pc_t=0.000578)
(FPS=10.199459) (535, 1774) (t_t=0.098044, dmap_t=0.095807, pc_t=0.000556)
(FPS=10.044230) (535, 1774) (t_t=0.099560, dmap_t=0.097288, pc_t=0.000584)
(FPS=10.025680) (535, 1774) (t_t=0.099744, dmap_t=0.097471, pc_t=0.000553)
(FPS=9.815189) (535, 1774) (t_t=0.101883, dmap_t=0.099608, pc_t=0.000575)
(FPS=9.915337) (535, 1774) (t_t=0.100854, dmap_t=0.098665, pc_t=0.000550)
(FPS=9.854268) (535, 1774) (t_t=0.101479, dmap_t=0.099170, pc_t=0.000606)
AVG_FPS=10.039956
CUDA
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1406.06273823082, 0, 985.7143025009002;
0, 1401.163023861664, 333.1380056733064;
0, 0, 1]
Scaled K2: [1413.609595502199, 0, 1002.857159935699;
0, 1411.198024032559, 350.7985774026356;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
CUDA Init done
Max files = 21
Post Process only left = 1, Subsampling = 1
(FPS=9.899952) (535, 1774) (t_t=0.101011, dmap_t=0.086061, pc_t=0.012181)
(FPS=11.031950) (535, 1774) (t_t=0.090646, dmap_t=0.082306, pc_t=0.006602)
(FPS=11.009144) (535, 1774) (t_t=0.090834, dmap_t=0.082556, pc_t=0.006579)
(FPS=11.211041) (535, 1774) (t_t=0.089198, dmap_t=0.080821, pc_t=0.006645)
(FPS=11.177187) (535, 1774) (t_t=0.089468, dmap_t=0.081178, pc_t=0.006557)
(FPS=11.230007) (535, 1774) (t_t=0.089047, dmap_t=0.080663, pc_t=0.006650)
(FPS=11.262470) (535, 1774) (t_t=0.088790, dmap_t=0.080543, pc_t=0.006568)
(FPS=11.200239) (535, 1774) (t_t=0.089284, dmap_t=0.080945, pc_t=0.006614)
(FPS=11.249521) (535, 1774) (t_t=0.088893, dmap_t=0.080486, pc_t=0.006643)
(FPS=11.168586) (535, 1774) (t_t=0.089537, dmap_t=0.080855, pc_t=0.006928)
(FPS=11.336316) (535, 1774) (t_t=0.088212, dmap_t=0.079879, pc_t=0.006626)
(FPS=11.470438) (535, 1774) (t_t=0.087181, dmap_t=0.078890, pc_t=0.006566)
(FPS=11.333260) (535, 1774) (t_t=0.088236, dmap_t=0.079882, pc_t=0.006605)
(FPS=11.039394) (535, 1774) (t_t=0.090585, dmap_t=0.082144, pc_t=0.006639)
(FPS=11.078283) (535, 1774) (t_t=0.090267, dmap_t=0.081841, pc_t=0.006661)
(FPS=10.897075) (535, 1774) (t_t=0.091768, dmap_t=0.083517, pc_t=0.006570)
(FPS=10.564638) (535, 1774) (t_t=0.094655, dmap_t=0.085468, pc_t=0.007482)
(FPS=10.394721) (535, 1774) (t_t=0.096203, dmap_t=0.087271, pc_t=0.007111)
(FPS=9.530208) (535, 1774) (t_t=0.104930, dmap_t=0.095403, pc_t=0.007467)
(FPS=9.737729) (535, 1774) (t_t=0.102693, dmap_t=0.090962, pc_t=0.009435)
(FPS=10.001546) (535, 1774) (t_t=0.099985, dmap_t=0.090351, pc_t=0.007425)
AVG_FPS=10.848748
Program exitted successfully!
0.8,0
CPU
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1230.304856667029, 0, 862.4999871477486;
0, 1226.017606730914, 291.4957456563749;
0, 0, 1]
Scaled K2: [1236.908356568629, 0, 877.4999869242312;
0, 1234.798231600073, 306.9487454261072;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=3.522346) (468, 1552) (t_t=0.283902, dmap_t=0.278528, pc_t=0.000641)
(FPS=3.897016) (468, 1552) (t_t=0.256607, dmap_t=0.253830, pc_t=0.000530)
(FPS=3.897375) (468, 1552) (t_t=0.256583, dmap_t=0.254597, pc_t=0.000540)
(FPS=3.942487) (468, 1552) (t_t=0.253647, dmap_t=0.251743, pc_t=0.000459)
(FPS=3.898221) (468, 1552) (t_t=0.256527, dmap_t=0.254778, pc_t=0.000429)
(FPS=3.824735) (468, 1552) (t_t=0.261456, dmap_t=0.259332, pc_t=0.000450)
(FPS=3.870436) (468, 1552) (t_t=0.258369, dmap_t=0.256450, pc_t=0.000486)
(FPS=3.884757) (468, 1552) (t_t=0.257416, dmap_t=0.255433, pc_t=0.000439)
(FPS=3.921981) (468, 1552) (t_t=0.254973, dmap_t=0.253114, pc_t=0.000449)
(FPS=3.900781) (468, 1552) (t_t=0.256359, dmap_t=0.254462, pc_t=0.000418)
(FPS=4.001413) (468, 1552) (t_t=0.249912, dmap_t=0.248102, pc_t=0.000460)
(FPS=3.929979) (468, 1552) (t_t=0.254454, dmap_t=0.252645, pc_t=0.000423)
(FPS=3.924385) (468, 1552) (t_t=0.254817, dmap_t=0.252969, pc_t=0.000423)
(FPS=3.847730) (468, 1552) (t_t=0.259893, dmap_t=0.258155, pc_t=0.000378)
(FPS=3.852162) (468, 1552) (t_t=0.259594, dmap_t=0.257875, pc_t=0.000455)
(FPS=3.808269) (468, 1552) (t_t=0.262586, dmap_t=0.260729, pc_t=0.000439)
(FPS=3.721999) (468, 1552) (t_t=0.268673, dmap_t=0.266891, pc_t=0.000413)
(FPS=3.677380) (468, 1552) (t_t=0.271933, dmap_t=0.270076, pc_t=0.000444)
(FPS=3.718650) (468, 1552) (t_t=0.268915, dmap_t=0.267199, pc_t=0.000414)
(FPS=3.680237) (468, 1552) (t_t=0.271722, dmap_t=0.269962, pc_t=0.000420)
(FPS=3.617572) (468, 1552) (t_t=0.276429, dmap_t=0.274613, pc_t=0.000419)
AVG_FPS=3.825710
OMP
K1 : [984.2439000000001, 0, 690;
0, 980.8141000000001, 233.1966;
0, 0, 1]
D1 : [-0.3728755, 0.2037299, 0.002219027, 0.001383707, -0.07233721999999999]
R1 : []
P1 : []
K2 : [989.5267, 0, 702;
0, 987.8386, 245.559;
0, 0, 1]
D2 : [-0.3644661, 0.1790019, 0.001148107, -0.0006298563, -0.05314062]
R2 : []
P2 : []
Starting rectification
Scaled K1: [1230.304856667029, 0, 862.4999871477486;
0, 1226.017606730914, 291.4957456563749;
0, 0, 1]
Scaled K2: [1236.908356568629, 0, 877.4999869242312;
0, 1234.798231600073, 306.9487454261072;
0, 0, 1]
------------------
Done rectification
** Object tracking disabled
KITTI Path: /home/aditya/VSProjects/Depth-Perception-from-Stereoscopic-Vision-on-Edge-Devices/kitti_mini/
Init done
Max files = 21
Post Process only left = 1, Subsampling = 0
(FPS=4.740840) (468, 1552) (t_t=0.210933, dmap_t=0.205443, pc_t=0.000599)
(FPS=5.710028) (468, 1552) (t_t=0.175131, dmap_t=0.172660, pc_t=0.000406)
(FPS=5.715054) (468, 1552) (t_t=0.174976, dmap_t=0.173118, pc_t=0.000457)
(FPS=5.792126) (468, 1552) (t_t=0.172648, dmap_t=0.170746, pc_t=0.000444)
(FPS=5.681517) (468, 1552) (t_t=0.176009, dmap_t=0.174213, pc_t=0.000457)
(FPS=5.718101) (468, 1552) (t_t=0.174883, dmap_t=0.173021, pc_t=0.000430)
(FPS=5.657464) (468, 1552) (t_t=0.176758, dmap_t=0.174985, pc_t=0.000444)
(FPS=5.672836) (468, 1552) (t_t=0.176279, dmap_t=0.174477, pc_t=0.000424)
(FPS=5.604612) (468, 1552) (t_t=0.178424, dmap_t=0.176633, pc_t=0.000430)
(FPS=5.635955) (468, 1552) (t_t=0.177432, dmap_t=0.175558, pc_t=0.000443)