VPP speed improvements

[MaticTonin]

Purpose

Improve Neural Assisted Stereo throughput on RVC4. The VPP path was limiting stereo.disparity output to roughly 30 FPS even when 60 FPS was requested. This change removes unnecessary VPP frame copies and reduces energy-map computation overhead, allowing NAS to reach ~60 FPS with the optimized FW.

Dependencies & Potential Impact

No external dependency changes.

Deployment Plan

Roll out with the updated RVC4 firmware package.

Rollback: revert this PR or boot devices with the previous RVC4 FW package.

Monitoring: use the updated NAS profiling example or BenchmarkIn telemetry to confirm stereo.disparity FPS, latency, CPU, memory, and temperature.

Testing & Validation

Validated on RVC4 device 10.12.161.25.

Old FW @ 60 FPS request:

• FPS: 29.83
• Avg latency: 191.74 ms

New FW @ 60 FPS:

• FPS: 59.98
• Avg latency: 100.12 ms

Result:

• Throughput: 2.01x
• Latency reduction: 47.8%

Also validated new FW @ 30 FPS:

• FPS: 30.53
• Avg latency: 115.45 ms

Old FW @ 30 FPS:

• FPS: 29.86
• Avg latency: 212.31 ms

Added C++ test:

• [NeuralAssistedStereo] Requested 60 FPS reaches at least 50 FPS

AI Usage

Assisted-by: OpenAI:Codex

Submitted code was reviewed by a human: YES

The author is taking the responsibility for the contribution: YES

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✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch bugfix/VPP_60_FPS

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