1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
|
# -*- coding: utf-8 -*-
from libcpp.string cimport string
from libcpp cimport bool
from libcpp.vector cimport vector
from libcpp.pair cimport pair
# main
cimport pcl_defs as cpp
from boost_shared_ptr cimport shared_ptr
# from boost_function cimport function
# from boost_signal2_connection cimport connection
# bind
from _bind_defs cimport connection
from _bind_defs cimport arg
from _bind_defs cimport function
from _bind_defs cimport callback_t
###############################################################################
# Types
###############################################################################
### base class ###
# grabber.h
# namespace pcl
# /** \brief Grabber interface for PCL 1.x device drivers
# * \author Suat Gedikli <gedikli@willowgarage.com>
# * \ingroup io
# */
# class PCL_EXPORTS Grabber
cdef extern from "pcl/io/grabber.h" namespace "pcl":
cdef cppclass Grabber:
Grabber ()
# public:
# /** \brief registers a callback function/method to a signal with the corresponding signature
# * \param[in] callback: the callback function/method
# * \return Connection object, that can be used to disconnect the callback method from the signal again.
# template<typename T> boost::signals2::connection registerCallback (const boost::function<T>& callback);
# connection registerCallback[T](function[T]& callback)
connection registerCallback[T](function[T] callback)
# /** \brief indicates whether a signal with given parameter-type exists or not
# * \return true if signal exists, false otherwise
# template<typename T> bool providesCallback () const;
bool providesCallback[T]()
#
# /** \brief For devices that are streaming, the streams are started by calling this method.
# * Trigger-based devices, just trigger the device once for each call of start.
# virtual void start () = 0;
#
# /** \brief For devices that are streaming, the streams are stopped.
# * This method has no effect for triggered devices.
# virtual void stop () = 0;
#
# /** \brief returns the name of the concrete subclass.
# * \return the name of the concrete driver.
# virtual std::string getName () const = 0;
#
# /** \brief Indicates whether the grabber is streaming or not. This value is not defined for triggered devices.
# * \return true if grabber is running / streaming. False otherwise.
# virtual bool isRunning () const = 0;
#
# /** \brief returns fps. 0 if trigger based. */
# virtual float getFramesPerSecond () const = 0;
# template<typename T> boost::signals2::signal<T>* Grabber::find_signal () const
# template<typename T> void Grabber::disconnect_all_slots ()
# template<typename T> void Grabber::block_signal ()
# template<typename T> void Grabber::unblock_signal ()
# void Grabber::block_signals ()
# void Grabber::unblock_signals ()
# template<typename T> int Grabber::num_slots () const
# template<typename T> boost::signals2::signal<T>* Grabber::createSignal ()
# template<typename T> boost::signals2::connection Grabber::registerCallback (const boost::function<T> & callback)
# template<typename T> bool Grabber::providesCallback () const
###
# oni_grabber.h
# namespace pcl
# struct PointXYZ;
# struct PointXYZRGB;
# struct PointXYZRGBA;
# struct PointXYZI;
# template <typename T> class PointCloud;
# /** \brief A simple ONI grabber.
# * \author Suat Gedikli
# class PCL_EXPORTS ONIGrabber : public Grabber
# cdef extern from "pcl/io/oni_grabber.h" namespace "pcl":
# cdef cppclass ONIGrabber(Grabber):
# ONIGrabber (string file_name, bool repeat, bool stream)
# public:
# //define callback signature typedefs
# typedef void (sig_cb_openni_image) (const boost::shared_ptr<openni_wrapper::Image>&);
# typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<openni_wrapper::DepthImage>&);
# typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<openni_wrapper::IRImage>&);
# typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
# typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<openni_wrapper::IRImage>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
# typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
# typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
# typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
# typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
#
# /** \brief For devices that are streaming, the streams are started by calling this method.
# * Trigger-based devices, just trigger the device once for each call of start.
# void start ()
#
# /** \brief For devices that are streaming, the streams are stopped.
# * This method has no effect for triggered devices.
# */
# void stop ()
#
# /** \brief returns the name of the concrete subclass.
# * \return the name of the concrete driver.
# */
# string getName ()
#
# /** \brief Indicates whether the grabber is streaming or not. This value is not defined for triggered devices.
# * \return true if grabber is running / streaming. False otherwise.
# */
# bool isRunning ()
#
# /** \brief returns the frames pre second. 0 if it is trigger based. */
# float getFramesPerSecond ()
#
# protected:
# /** \brief internal OpenNI (openni_wrapper) callback that handles image streams */
# void imageCallback (boost::shared_ptr<openni_wrapper::Image> image, void* cookie);
# /** \brief internal OpenNI (openni_wrapper) callback that handles depth streams */
# void depthCallback (boost::shared_ptr<openni_wrapper::DepthImage> depth_image, void* cookie);
# /** \brief internal OpenNI (openni_wrapper) callback that handles IR streams */
# void irCallback (boost::shared_ptr<openni_wrapper::IRImage> ir_image, void* cookie);
# /** \brief internal callback that handles synchronized image + depth streams */
# void imageDepthImageCallback (const boost::shared_ptr<openni_wrapper::Image> &image,
# const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);
# /** \brief internal callback that handles synchronized IR + depth streams */
# void irDepthImageCallback (const boost::shared_ptr<openni_wrapper::IRImage> &image,
# const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image);
# /** \brief internal method to assemble a point cloud object */
# boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> > convertToXYZPointCloud (const boost::shared_ptr<openni_wrapper::DepthImage> &depth) const;
# /** \brief internal method to assemble a point cloud object */
# boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> >
# convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
# const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;
#
# /** \brief internal method to assemble a point cloud object */
# boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >
# convertToXYZRGBAPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
# const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;
#
# /** \brief internal method to assemble a point cloud object */
# boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >
# convertToXYZIPointCloud (const boost::shared_ptr<openni_wrapper::IRImage> &image,
# const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const;
#
# /** \brief synchronizer object to synchronize image and depth streams*/
# Synchronizer<boost::shared_ptr<openni_wrapper::Image>, boost::shared_ptr<openni_wrapper::DepthImage> > rgb_sync_;
#
# /** \brief synchronizer object to synchronize IR and depth streams*/
# Synchronizer<boost::shared_ptr<openni_wrapper::IRImage>, boost::shared_ptr<openni_wrapper::DepthImage> > ir_sync_;
#
# /** \brief the actual openni device*/
# boost::shared_ptr<openni_wrapper::DeviceONI> device_;
# std::string rgb_frame_id_;
# std::string depth_frame_id_;
# bool running_;
# unsigned image_width_;
# unsigned image_height_;
# unsigned depth_width_;
# unsigned depth_height_;
# openni_wrapper::OpenNIDevice::CallbackHandle depth_callback_handle;
# openni_wrapper::OpenNIDevice::CallbackHandle image_callback_handle;
# openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle;
# boost::signals2::signal<sig_cb_openni_image >* image_signal_;
# boost::signals2::signal<sig_cb_openni_depth_image >* depth_image_signal_;
# boost::signals2::signal<sig_cb_openni_ir_image >* ir_image_signal_;
# boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
# boost::signals2::signal<sig_cb_openni_ir_depth_image>* ir_depth_image_signal_;
# boost::signals2::signal<sig_cb_openni_point_cloud >* point_cloud_signal_;
# boost::signals2::signal<sig_cb_openni_point_cloud_i >* point_cloud_i_signal_;
# boost::signals2::signal<sig_cb_openni_point_cloud_rgb >* point_cloud_rgb_signal_;
# boost::signals2::signal<sig_cb_openni_point_cloud_rgba >* point_cloud_rgba_signal_;
# public:
# EIGEN_MAKE_ALIGNED_OPERATOR_NEW
###
# openni_grabber.h
# namespace pcl
# struct PointXYZ;
# struct PointXYZRGB;
# struct PointXYZRGBA;
# struct PointXYZI;
# template <typename T> class PointCloud;
#
# /** \brief Grabber for OpenNI devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
# * \author Nico Blodow <blodow@cs.tum.edu>, Suat Gedikli <gedikli@willowgarage.com>
# * \ingroup io
# */
# class PCL_EXPORTS OpenNIGrabber : public Grabber
cdef extern from "pcl/io/openni_grabber.h" namespace "pcl":
cdef cppclass OpenNIGrabber(Grabber):
# OpenNIGrabber ()
OpenNIGrabber (string device_id, Mode2 depth_mode, Mode2 image_mode)
# OpenNIGrabber (const std::string& device_id = "",
# const Mode& depth_mode = OpenNI_Default_Mode,
# const Mode& image_mode = OpenNI_Default_Mode);
# public:
# //define callback signature typedefs
# typedef void (sig_cb_openni_image) (const boost::shared_ptr<openni_wrapper::Image>&);
# typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<openni_wrapper::DepthImage>&);
# typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<openni_wrapper::IRImage>&);
# typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
# typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<openni_wrapper::IRImage>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant) ;
# typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
# typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
# typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
# typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
# typedef void (sig_cb_openni_point_cloud_eigen) (const boost::shared_ptr<const pcl::PointCloud<Eigen::MatrixXf> >&);
# public:
# /** \brief Start the data acquisition. */
void start ()
# /** \brief Stop the data acquisition. */
void stop ()
# /** \brief Check if the data acquisition is still running. */
bool isRunning ()
string getName ()
# /** \brief Obtain the number of frames per second (FPS). */
float getFramesPerSecond () const
# /** \brief Get a boost shared pointer to the \ref OpenNIDevice object. */
# inline shared_ptr[openni_wrapper::OpenNIDevice] getDevice () const;
# /** \brief Obtain a list of the available depth modes that this device supports. */
# vector[pair[int, XnMapOutputMode] ] getAvailableDepthModes ()
# /** \brief Obtain a list of the available image modes that this device supports. */
# vector[pair[int, XnMapOutputMode] ] getAvailableImageModes ()
# public:
# EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#
# cdef extern from "pcl/io/openni_grabber.h" namespace "pcl":
# cdef boost::shared_ptr<openni_wrapper::OpenNIDevice>
# cdef extern from "pcl/io/openni_grabber.h" namespace "pcl":
# cdef OpenNIGrabber::getDevice () const
###
# pcd_grabber.h
# namespace pcl
# /** \brief Base class for PCD file grabber.
# * \ingroup io
# */
# class PCL_EXPORTS PCDGrabberBase : public Grabber
cdef extern from "pcl/io/pcd_grabber.h" namespace "pcl":
cdef cppclass PCDGrabberBase(Grabber):
PCDGrabberBase ()
# public:
# /** \brief Constructor taking just one PCD file or one TAR file containing multiple PCD files.
# * \param[in] pcd_file path to the PCD file
# * \param[in] frames_per_second frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
# * \param[in] repeat whether to play PCD file in an endless loop or not.
# */
# PCDGrabberBase (const std::string& pcd_file, float frames_per_second, bool repeat);
#
# /** \brief Constructor taking a list of paths to PCD files, that are played in the order they appear in the list.
# * \param[in] pcd_files vector of paths to PCD files.
# * \param[in] frames_per_second frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
# * \param[in] repeat whether to play PCD file in an endless loop or not.
# */
# PCDGrabberBase (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat);
#
# /** \brief Copy constructor.
# * \param[in] src the PCD Grabber base object to copy into this
# */
# PCDGrabberBase (const PCDGrabberBase &src) : impl_ ()
# /** \brief Copy operator.
# * \param[in] src the PCD Grabber base object to copy into this
# */
# PCDGrabberBase&
# operator = (const PCDGrabberBase &src)
# {
# impl_ = src.impl_;
# return (*this);
# }
#
# /** \brief Virtual destructor. */
# virtual ~PCDGrabberBase () throw ();
#
# /** \brief Starts playing the list of PCD files if frames_per_second is > 0. Otherwise it works as a trigger: publishes only the next PCD file in the list. */
# virtual void
# start ();
#
# /** \brief Stops playing the list of PCD files if frames_per_second is > 0. Otherwise the method has no effect. */
# virtual void
# stop ();
#
# /** \brief Triggers a callback with new data */
# virtual void
# trigger ();
#
# /** \brief whether the grabber is started (publishing) or not.
# * \return true only if publishing.
# */
# virtual bool
# isRunning () const;
#
# /** \return The name of the grabber */
# virtual std::string
# getName () const;
#
# /** \brief Rewinds to the first PCD file in the list.*/
# virtual void
# rewind ();
#
# /** \brief Returns the frames_per_second. 0 if grabber is trigger-based */
# virtual float
# getFramesPerSecond () const;
#
# /** \brief Returns whether the repeat flag is on */
# bool
# isRepeatOn () const;
###
# template <typename PointT> class PCDGrabber : public PCDGrabberBase
cdef extern from "pcl/io/pcd_grabber.h" namespace "pcl":
cdef cppclass PCDGrabber[T](PCDGrabberBase):
PCDGrabber ()
# PCDGrabber (const std::string& pcd_path, float frames_per_second = 0, bool repeat = false);
# PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second = 0, bool repeat = false);
# protected:
# virtual void publish (const sensor_msgs::PointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const;
# boost::signals2::signal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>* signal_;
# #ifdef HAVE_OPENNI
# boost::signals2::signal<void (const boost::shared_ptr<openni_wrapper::DepthImage>&)>* depth_image_signal_;
# # #endif
#
# ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
# template<typename PointT>
# PCDGrabber<PointT>::PCDGrabber (const std::string& pcd_path, float frames_per_second, bool repeat)
# : PCDGrabberBase (pcd_path, frames_per_second, repeat)
# {
# signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
# #ifdef HAVE_OPENNI
# depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
# #endif
# }
#
# ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
# template<typename PointT>
# PCDGrabber<PointT>::PCDGrabber (const std::vector<std::string>& pcd_files, float frames_per_second, bool repeat)
# : PCDGrabberBase (pcd_files, frames_per_second, repeat), signal_ ()
# {
# signal_ = createSignal<void (const boost::shared_ptr<const pcl::PointCloud<PointT> >&)>();
# #ifdef HAVE_OPENNI
# depth_image_signal_ = createSignal <void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> ();
# #endif
# }
#
# ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
# template<typename PointT> void
# PCDGrabber<PointT>::publish (const sensor_msgs::PointCloud2& blob, const Eigen::Vector4f& origin, const Eigen::Quaternionf& orientation) const
# {
# typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
# pcl::fromROSMsg (blob, *cloud);
# cloud->sensor_origin_ = origin;
# cloud->sensor_orientation_ = orientation;
#
# signal_->operator () (cloud);
#
# #ifdef HAVE_OPENNI
# // If dataset is not organized, return
# if (!cloud->isOrganized ())
# return;
#
# boost::shared_ptr<xn::DepthMetaData> depth_meta_data (new xn::DepthMetaData);
# depth_meta_data->AllocateData (cloud->width, cloud->height);
# XnDepthPixel* depth_map = depth_meta_data->WritableData ();
# uint32_t k = 0;
# for (uint32_t i = 0; i < cloud->height; ++i)
# for (uint32_t j = 0; j < cloud->width; ++j)
# {
# depth_map[k] = static_cast<XnDepthPixel> ((*cloud)[k].z * 1000);
# ++k;
# }
#
# boost::shared_ptr<openni_wrapper::DepthImage> depth_image (new openni_wrapper::DepthImage (depth_meta_data, 0.075f, 525, 0, 0));
# if (depth_image_signal_->num_slots() > 0)
# depth_image_signal_->operator()(depth_image);
# #endif
###
###############################################################################
# Enum
###############################################################################
# cdef extern from "pcl/io/openni_grabber.h" namespace "pcl":
# cdef cppclass OpenNIGrabber(Grabber):
# # public:
# # typedef enum
# # OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
# # OpenNI_SXGA_15Hz = 1, // Only supported by the Kinect
# # OpenNI_VGA_30Hz = 2, // Supported by PSDK, Xtion and Kinect
# # OpenNI_VGA_25Hz = 3, // Supportged by PSDK and Xtion
# # OpenNI_QVGA_25Hz = 4, // Supported by PSDK and Xtion
# # OpenNI_QVGA_30Hz = 5, // Supported by PSDK, Xtion and Kinect
# # OpenNI_QVGA_60Hz = 6, // Supported by PSDK and Xtion
# # OpenNI_QQVGA_25Hz = 7, // Not supported -> using software downsampling (only for integer scale factor and only NN)
# # OpenNI_QQVGA_30Hz = 8, // Not supported -> using software downsampling (only for integer scale factor and only NN)
# # OpenNI_QQVGA_60Hz = 9 // Not supported -> using software downsampling (only for integer scale factor and only NN)
# # } Mode;
cdef extern from "pcl/io/openni_grabber.h" namespace "pcl":
ctypedef enum Mode2 "pcl::OpenNIGrabber":
Grabber_OpenNI_Default_Mode "pcl::OpenNIGrabber::OpenNI_Default_Mode" # = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
Grabber_OpenNI_SXGA_15Hz "pcl::OpenNIGrabber::OpenNI_SXGA_15Hz" # = 1, // Only supported by the Kinect
Grabber_OpenNI_VGA_30Hz "pcl::OpenNIGrabber::OpenNI_VGA_30Hz" # = 2, // Supported by PSDK, Xtion and Kinect
Grabber_OpenNI_VGA_25Hz "pcl::OpenNIGrabber::OpenNI_VGA_25Hz" # = 3, // Supportged by PSDK and Xtion
Grabber_OpenNI_QVGA_25Hz "pcl::OpenNIGrabber::OpenNI_QVGA_25Hz" # = 4, // Supported by PSDK and Xtion
Grabber_OpenNI_QVGA_30Hz "pcl::OpenNIGrabber::OpenNI_QVGA_30Hz" # = 5, // Supported by PSDK, Xtion and Kinect
Grabber_OpenNI_QVGA_60Hz "pcl::OpenNIGrabber::OpenNI_QVGA_60Hz" # = 6, // Supported by PSDK and Xtion
Grabber_OpenNI_QQVGA_25Hz "pcl::OpenNIGrabber::OpenNI_QQVGA_25Hz" # = 7, // Not supported -> using software downsampling (only for integer scale factor and only NN)
Grabber_OpenNI_QQVGA_30Hz "pcl::OpenNIGrabber::OpenNI_QQVGA_30Hz" # = 8, // Not supported -> using software downsampling (only for integer scale factor and only NN)
Grabber_OpenNI_QQVGA_60Hz "pcl::OpenNIGrabber::OpenNI_QQVGA_60Hz" # = 9 // Not supported -> using software downsampling (only for integer scale factor and only NN)
|
