Add highres channel

applications/reconstruct/src/reconstruction.cpp

@@ -61,7 +61,7 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
 		ftl::pool.push([this](int id) {
 			UNIQUE_LOCK(fs_align_.mtx, lk);
 			
-			rgb_.resize(fs_align_.frames.size());
+			/*rgb_.resize(fs_align_.frames.size());
 			for (size_t i = 0; i < rgb_.size(); i++) {
 				auto &depth = fs_align_.frames[i].get<cv::cuda::GpuMat>(ftl::codecs::Channel::Depth);
 				auto &color = fs_align_.frames[i].get<cv::cuda::GpuMat>(ftl::codecs::Channel::Colour);
@@ -70,7 +70,7 @@ Reconstruction::Reconstruction(nlohmann::json &config, const std::string name) :
 					std::swap(rgb_[i], color);
 					cv::cuda::resize(rgb_[i], color, depth.size(), 0.0, 0.0, cv::INTER_LINEAR);
 				}
-			}
+			}*/
 
 			pipeline_->apply(fs_align_, fs_align_, 0);
 			

components/operators/src/colours.cpp

@@ -14,11 +14,12 @@ ColourChannels::~ColourChannels() {
 bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *s, cudaStream_t stream) {
 	auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
 
+	auto &col = in.get<cv::cuda::GpuMat>(Channel::Colour);
+
 	// Convert colour from BGR to BGRA if needed
-	if (in.get<cv::cuda::GpuMat>(Channel::Colour).type() == CV_8UC3) {
+	if (col.type() == CV_8UC3) {
 		//cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
 		// Convert to 4 channel colour
-		auto &col = in.get<cv::cuda::GpuMat>(Channel::Colour);
 		temp_.create(col.size(), CV_8UC4);
 		cv::cuda::swap(col, temp_);
 		cv::cuda::cvtColor(temp_,col, cv::COLOR_BGR2BGRA, 0, cvstream);
@@ -27,5 +28,13 @@ bool ColourChannels::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgb
 	//in.resetTexture(Channel::Colour);
 	in.createTexture<uchar4>(Channel::Colour, true);
 
+	auto &depth = in.get<cv::cuda::GpuMat>(Channel::Depth);
+	if (depth.size() != col.size()) {
+		auto &col2 = in.create<cv::cuda::GpuMat>(Channel::ColourHighRes);
+		cv::cuda::resize(col, col2, depth.size(), 0.0, 0.0, cv::INTER_LINEAR, cvstream);
+		in.createTexture<uchar4>(Channel::ColourHighRes, true);
+		in.swapChannels(Channel::Colour, Channel::ColourHighRes);
+	}
+
 	return true;
 }

components/renderers/cpp/src/tri_render.cpp

@@ -607,7 +607,11 @@ bool Triangular::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, co
 	}
 
 	// Reprojection of colours onto surface
-	_renderChannel(out, Channel::Colour, Channel::Colour, t, stream_);
+	auto main_channel = (scene_->frames[0].hasChannel(Channel::ColourHighRes)) ? Channel::ColourHighRes : Channel::Colour;
+	//if (scene_->frames[0].hasChannel(Channel::ColourHighRes)) {
+	//	LOG(INFO) << "HAVE HIGH RES: " << scene_->frames[0].get<GpuMat>(Channel::ColourHighRes).rows;
+	//}
+	_renderChannel(out, main_channel, Channel::Colour, t, stream_);
 
 	if (value("cool_effect", false)) {
 		auto pose = params.m_viewMatrixInverse.getFloat3x3();