Limit SGM memory usage

components/operators/include/ftl/operators/disparity.hpp

@@ -30,6 +30,8 @@ class FixstarsSGM : public ftl::operators::Operator {
 	inline Operator::Type type() const override { return Operator::Type::OneToOne; }
 	bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
 
+	bool isMemoryHeavy() const override { return true; }
+	
 	private:
 	bool init();
 	bool updateParameters();

components/operators/include/ftl/operators/operator.hpp

@@ -54,6 +54,8 @@ class Operator {
 	 */
 	virtual void wait(cudaStream_t) {}
 
+	virtual bool isMemoryHeavy() const { return false; }
+
 	inline ftl::Configurable *config() const { return config_; }
 
 	private:

components/operators/src/operator.cpp

@@ -59,14 +59,15 @@ bool Graph::apply(FrameSet &in, FrameSet &out, cudaStream_t stream) {
 			//while (i.instances.size() < in.frames.size()) {
 				//i.instances.push_back(i.maker->make());
 			//}
-			if (in.frames.size() > 1 && i.instances.size() < 2) {
+			if (in.frames.size() > 1 && i.instances.size() < 2 && !i.instances[0]->isMemoryHeavy()) {
 				i.instances.push_back(i.maker->make());
 			}
 
 			for (size_t j=0; j<in.frames.size(); ++j) {
 				if (!in.hasFrame(j)) continue;
 				
-				auto *instance = i.instances[j&0x1];
+				int iix = (i.instances[0]->isMemoryHeavy()) ? 0 : j&0x1;
+				auto *instance = i.instances[iix];
 
 				if (instance->enabled()) {
 					try {