off filter: gpumat

components/rgbd-sources/include/ftl/offilter.hpp

@@ -17,6 +17,7 @@ public:
 	OFDisparityFilter() : n_max_(0), threshold_(0.0) {}
 	OFDisparityFilter(cv::Size size, int n_frames, float threshold);
 	void filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream);
+	void filter(cv::cuda::GpuMat &disp, cv::cuda::GpuMat &optflow, cv::cuda::Stream &stream);
 
 private:
 	int n_max_;

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

@@ -154,6 +154,7 @@ bool FixstarsSGM::updateOFDisparityFilter() {
 	}
 	
 	if (enable) {
+		LOG(INFO) << "Optical flow filter, size: " << off_size << ", threshold: " << off_threshold;
 		off_ = ftl::rgbd::OFDisparityFilter(size_, off_size, off_threshold);
 		use_off_ = true;
 	}
@@ -206,7 +207,11 @@ void FixstarsSGM::compute(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
 	cv::cuda::threshold(dispt_, dispt_, 4096.0f, 0.0f, cv::THRESH_TOZERO_INV, stream);
 
 	#ifdef HAVE_OPTFLOW
-		if (use_off_) { off_.filter(frame, stream); }
+	if (use_off_) {	
+		frame.upload(Channel::Flow, stream);
+		stream.waitForCompletion();
+		off_.filter(dispt_, frame.get<GpuMat>(Channel::Flow), stream);
+	}
 	#endif
 
 	// TODO: filter could be applied after upscaling (to the upscaled disparity image)

components/rgbd-sources/src/offilter.cpp

@@ -39,4 +39,9 @@ void OFDisparityFilter::filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream
 	ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
 }
 
+void OFDisparityFilter::filter(cv::cuda::GpuMat &disp, cv::cuda::GpuMat &optflow, cv::cuda::Stream &stream)
+{
+	ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
+}
+
 #endif  // HAVE_OPTFLOW