Performance of the stereo reconstruction in ROS

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Dear all,

I have done a performance test of stereoBm algorithm.

In first case: I have ran the ros node which takes stereo image pairs and gives the disparity output. The images are published as a ros topics from the bag file using rosbag play This node uses opencv blockmatcher to compute disparity. It took x ms execution time for the compute function of stereoBm.

In second case: I have pre loaded around 1000 pairs of frames from the bag file. Once the 1000 frames are loaded into the buffer, I am processing these frames one after the other. In this case I am able to observe better performance. The execution time became~x*0.6 ms.

Can anyone be able to tell what might be the problem here. The performance of stereoBM plays crucial role in my project.

Thanks in advance,

Murali