[Feat] psf rgbd conv disparity interpolation

[singer-yang]

This pull request introduces support for both depth and disparity interpolation modes in PSF-based image rendering, improves the flexibility and accuracy of RGBD rendering, and adds comprehensive tests and documentation for these enhancements. The main changes include updating the rendering functions to accept an interp_mode argument, refactoring the convolution logic for efficiency, and expanding test coverage to ensure correct behavior for edge cases and new features.

Rendering and Interpolation Enhancements

• Added an interp_mode argument ("depth" or "disparity") to the render_rgbd method and underlying PSF convolution functions (conv_psf_depth_interp, conv_psf_map_depth_interp), allowing users to choose interpolation in either depth or disparity space for more accurate image simulation. [1] [2] [3] [4]
• Refactored the convolution logic in conv_psf_depth_interp to use grouped convolutions for improved efficiency and maintainability, and ensured correct padding and kernel handling.

API and Usage Improvements

• Updated the render_rgbd method signature and documentation to clarify input requirements and new options, and improved error handling for invalid depth values and interpolation modes. [1] [2]
• Added example usage for the new interpolation modes in the user guide documentation.

Testing

• Added new tests for both depth and disparity interpolation modes, including shape checks, NaN checks, and error handling for invalid modes, as well as tests for the new conv_psf_map_depth_interp function.

Miscellaneous

• Updated the test runner instructions in test/README.md for clarity and completeness.
• Minor improvements to default values and consistency in PSF kernel sizing and handling throughout the codebase. [1] [2] [3]

These changes collectively improve the flexibility, reliability, and usability of the PSF-based rendering pipeline for RGBD images.

[Copilot]

Copilot encountered an error and was unable to review this pull request. You can try again by re-requesting a review.