interpolation configuration

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

@@ -46,7 +46,8 @@ using std::chrono::milliseconds;
 using std::this_thread::sleep_for;
 
 OpenCVDevice::OpenCVDevice(nlohmann::json &config, bool stereo)
-		: ftl::rgbd::detail::Device(config), timestamp_(0.0) {
+		: ftl::rgbd::detail::Device(config), timestamp_(0.0),
+		interpolation_(cv::INTER_CUBIC) {
 
 	std::vector<ftl::rgbd::detail::DeviceDetails> devices_ = getDevices();
 
@@ -147,6 +148,12 @@ OpenCVDevice::OpenCVDevice(nlohmann::json &config, bool stereo)
 	left_hm_ = cv::cuda::HostMem(dheight_, dwidth_, CV_8UC4);
 	right_hm_ = cv::cuda::HostMem(dheight_, dwidth_, CV_8UC4);
 	hres_hm_ = cv::cuda::HostMem(height_, width_, CV_8UC4);
+
+	interpolation_ = value("inter_cubic", false) ? cv::INTER_CUBIC : cv::INTER_LINEAR;
+	on("inter_cubic", [this](){
+		interpolation_ = value("inter_cubic_", false) ?
+			cv::INTER_CUBIC : cv::INTER_LINEAR;
+	});
 }
 
 OpenCVDevice::~OpenCVDevice() {
@@ -355,7 +362,7 @@ bool OpenCVDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cud
 
 				if (hasHigherRes()) {
 					// TODO: Use threads?
-					cv::resize(rfull, r, r.size(), 0.0, 0.0, cv::INTER_CUBIC);
+					cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
 					r_hres_out = rfull;
 				}
 				else {
@@ -397,13 +404,13 @@ bool OpenCVDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cud
 		// Need to resize
 		//if (hasHigherRes()) {
 			// TODO: Use threads?
-		//	cv::resize(rfull, r, r.size(), 0.0, 0.0, cv::INTER_CUBIC);
+		//	cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
 		//}
 	}
 
 	if (hasHigherRes()) {
 		//FTL_Profile("Frame Resize", 0.01);
-		cv::resize(lfull, l, l.size(), 0.0, 0.0, cv::INTER_CUBIC);
+		cv::resize(lfull, l, l.size(), 0.0, 0.0, interpolation_);
 		l_hres_out.upload(hres, stream);
 	} else {
 		l_hres_out = cv::cuda::GpuMat();

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

@@ -62,6 +62,7 @@ class OpenCVDevice : public ftl::rgbd::detail::Device {
 
 	cv::Mat frame_l_;
 	cv::Mat frame_r_;
+	int interpolation_;
 };
 
 }

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

@@ -24,7 +24,8 @@ using cv::Mat;
 using namespace Pylon;
 
 PylonDevice::PylonDevice(nlohmann::json &config)
-		: ftl::rgbd::detail::Device(config), ready_(false), lcam_(nullptr), rcam_(nullptr) {
+		: ftl::rgbd::detail::Device(config), ready_(false), lcam_(nullptr), rcam_(nullptr),
+		interpolation_(cv::INTER_CUBIC) {
 
 	auto &inst = CTlFactory::GetInstance();
 
@@ -114,6 +115,12 @@ PylonDevice::PylonDevice(nlohmann::json &config)
 	});
 
 	on("buffer_size", buffer_size_, 1);
+
+	interpolation_ = value("inter_cubic", false) ? cv::INTER_CUBIC : cv::INTER_LINEAR;
+	on("inter_cubic", [this](){
+		interpolation_ = value("inter_cubic", false) ?
+			cv::INTER_CUBIC : cv::INTER_LINEAR;
+	});
 }
 
 PylonDevice::~PylonDevice() {
@@ -298,7 +305,7 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
 					c->rectify(rfull, Channel::Right);
 
 					if (hasHigherRes()) {
-						cv::resize(rfull, r, r.size(), 0.0, 0.0, cv::INTER_CUBIC);
+						cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
 						h_r = rfull;
 					}
 					else {
@@ -338,7 +345,7 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
 			}
 
 			if (hasHigherRes()) {
-				cv::resize(lfull, l, l.size(), 0.0, 0.0, cv::INTER_CUBIC);
+				cv::resize(lfull, l, l.size(), 0.0, 0.0, interpolation_);
 				h_l.upload(hres, stream);
 			} else {
 				h_l = cv::cuda::GpuMat();

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

@@ -57,6 +57,7 @@ class PylonDevice : public ftl::rgbd::detail::Device {
 	cv::cuda::HostMem right_hm_;
 	cv::cuda::HostMem hres_hm_;
 	cv::Mat rtmp_;
+	int interpolation_;
 
 	void _configureCamera(Pylon::CBaslerUniversalInstantCamera *cam);
 	bool _retrieveFrames(Pylon::CGrabResultPtr &result, Pylon::CBaslerUniversalInstantCamera *cam);