feature/frame class

Frame class to wrap all channels. Should be easier to use in code as access to any (available/calculated) channel is possible. Automatic transfers between host/gpu if not available in other.

components/rgbd-sources/src/algorithms/fixstars_sgm.cpp

@@ -116,10 +116,9 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
 	dispt_full_res_.convertTo(disp, CV_32F, 1.0f / 16.0f, stream);
 
 #ifdef HAVE_OPTFLOW
-	if (use_off_) {
-		Mat disp_host(disp);
-		off_.filter(disp_host, Mat(lbw_));
-		disp.upload(disp_host);
+	if (use_off_)
+	{
+		off_.filter(frame.setChannel<Mat>(ftl::rgbd::kChanDisparity), Mat(lbw_));
 	}
 #endif
 }