ruisv/bcdl-las2-stereo

Lite Any Stereo V2 for RDK S100/S100P — zero-shot stereo disparity

Compiled BPU models (.hbm) for the D-Robotics RDK S100 / S100P, ready to load — no ONNX export, no calibration, no hb_compile. Built and measured with BCDL, a C++17 inference and media library for the RDK S-series with Python bindings.

Upstream: Lite Any Stereo V2 (M)

Redistributable, including commercially. The licence chain was checked on the code, the pretrained weights it started from, and the data it was trained on — all three, because a permissive repository badge does not by itself say anything about the weights. See Licence.

Files

file	what it is
las2_m_crop_nashm.hbm	centre-crop-fit calibration, 640x480 — 38.8 MB
las2_m_int16_nashm.hbm	resize-fit calibration, 640x480 — 39.3 MB

Measured on an S100P

stage	latency	throughput
either build	13.70 ms	73 FPS

hrt_model_exec perf, one thread, minimum of three runs, on a board first gated against its own previously recorded numbers. BPU time only — CPU pre/post-processing is on top and is listed per task in BCDL's benchmark results.

Use it

conda install -c https://mirrors.ruis.ai/conda -c conda-forge bcdl

import bcdl
engine = bcdl.Engine("las2_m_crop_nashm.hbm")
print(engine.input_shape(0), engine.output_shape(0))

Each task has a decoder in BCDL that turns those raw outputs into boxes, keypoints, masks, disparity or text — see the Python API (中文).

What to know before deploying

Two calibration modes, and you must match the one you letterbox with. _crop was calibrated on centre-cropped pairs and _int16 on resize-fitted ones; feed a build the geometry it was not calibrated for and the disparity degrades quietly rather than failing.

All-2D and feed-forward — no 3-D cost volume — which is exactly why it runs at 73 FPS here. Cost-volume stereo of comparable quality took ~40 s/frame on this part and was abandoned.

Licence

MIT on the code and the weights. One thing worth knowing rather than a term passed down: the release was distilled from FoundationStereo, whose NVIDIA licence is research-only. That is upstream's compliance question, but look at it before a commercial build.

BCDL itself is Apache-2.0 and is unrelated to these terms — it is a general-purpose runtime that loads any .hbm. The licence above constrains these weights and this compiled artefact.

The conversion recipe — ONNX export, calibration, hb_compile config and the acceptance numbers — is public in bcdl-model-zoo, so this build can be reproduced or retargeted rather than taken on trust.