calculate depth at different resoltuion

components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp

@@ -8,7 +8,6 @@
 #include "ftl/operators/opticalflow.hpp"
 #endif
 
-
 #include "ftl/operators/smoothing.hpp"
 #include "ftl/operators/colours.hpp"
 #include "ftl/operators/normals.hpp"
@@ -69,10 +68,10 @@ void StereoVideoSource::init(const string &file) {
 		lsrc_ = ftl::create<LocalSource>(host_, "feed");
 	}
 
-	cv::Size size = cv::Size(lsrc_->width(), lsrc_->height());
+	color_size_ = cv::Size(lsrc_->width(), lsrc_->height());
 	frames_ = std::vector<Frame>(2);
 
-	calib_ = ftl::create<Calibrate>(host_, "calibration", size, stream_);
+	calib_ = ftl::create<Calibrate>(host_, "calibration", color_size_, stream_);
 	if (!calib_->isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
 
 	// Generate camera parameters from camera matrix
@@ -131,6 +130,9 @@ void StereoVideoSource::init(const string &file) {
 	pipeline_input_->append<ftl::operators::NVOpticalFlow>("optflow");
 	#endif
 
+	depth_size_ = cv::Size(	host_->value("width", color_size_.width),
+							host_->value("height", color_size_.height));
+
 	pipeline_depth_ = ftl::config::create<ftl::operators::Graph>(host_, "disparity");
 	pipeline_depth_->append<ftl::operators::FixstarsSGM>("algorithm");
 
@@ -205,8 +207,28 @@ bool StereoVideoSource::compute(int n, int b) {
 	}
 
 	if (chan == Channel::Depth) {
-		pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));	
+		// stereo algorithms assume input same size as output, resize if
+		// necessary
+		bool resize = (depth_size_ != color_size_);
+		if (resize) {
+			cv::cuda::GpuMat &left = frame.get<cv::cuda::GpuMat>(Channel::Left);
+			cv::cuda::GpuMat &right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+			std::swap(fullres_left_, left);
+			std::swap(fullres_right_, right);
+			cv::cuda::resize(fullres_left_, left, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
+			cv::cuda::resize(fullres_right_, right, depth_size_, 0.0, 0.0, cv::INTER_CUBIC, stream_);
+		}
+
+		pipeline_depth_->apply(frame, frame, host_, cv::cuda::StreamAccessor::getStream(stream_));
 		stream_.waitForCompletion();
+		
+		if (resize) {
+			cv::cuda::GpuMat &left = frame.get<cv::cuda::GpuMat>(Channel::Left);
+			cv::cuda::GpuMat &right = frame.get<cv::cuda::GpuMat>(Channel::Right);
+			std::swap(fullres_left_, left);
+			std::swap(fullres_right_, right);
+		}
+
 		host_->notify(timestamp_,
 						frame.get<cv::cuda::GpuMat>(Channel::Left),
 						frame.get<cv::cuda::GpuMat>(Channel::Depth));

components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp

@@ -38,9 +38,15 @@ class StereoVideoSource : public detail::Source {
 	LocalSource *lsrc_;
 	Calibrate *calib_;
 
+	cv::Size color_size_;
+	cv::Size depth_size_;
+
 	ftl::operators::Graph *pipeline_input_;
 	ftl::operators::Graph *pipeline_depth_;
 
+	cv::cuda::GpuMat fullres_left_;
+	cv::cuda::GpuMat fullres_right_;
+
 	bool ready_;
 	
 	cv::cuda::Stream stream_;