Refactor master merge

components/rgbd-sources/src/frame.cpp

@@ -120,7 +120,6 @@ template <> cv::Mat &Frame::create(ftl::rgbd::Channel c, const ftl::rgbd::Format
 	auto &m = _get(c).host;
 
 	if (!f.empty()) {
-		LOG(INFO) << "Creating mat: " << f.width << "," << f.height << "," << f.cvType;
 		m.create(f.size(), f.cvType);
 	}
 
@@ -143,3 +142,25 @@ template <> cv::cuda::GpuMat &Frame::create(ftl::rgbd::Channel c, const ftl::rgb
 	return m;
 }
 
+template <> cv::Mat &Frame::create(ftl::rgbd::Channel c) {
+	if (c == Channel::None) {
+		throw ftl::exception("Cannot create a None channel");
+	}
+	channels_ += c;
+	gpu_ -= c;
+
+	auto &m = _get(c).host;
+	return m;
+}
+
+template <> cv::cuda::GpuMat &Frame::create(ftl::rgbd::Channel c) {
+	if (c == Channel::None) {
+		throw ftl::exception("Cannot create a None channel");
+	}
+	channels_ += c;
+	gpu_ += c;
+
+	auto &m = _get(c).gpu;
+	return m;
+}
+

components/rgbd-sources/src/offilter.cpp

@@ -28,12 +28,13 @@ OFDisparityFilter::OFDisparityFilter(Size size, int n_frames, float threshold) :
 
 void OFDisparityFilter::filter(ftl::rgbd::Frame &frame, cv::cuda::Stream &stream)
 {
-	const cv::cuda::GpuMat &optflow = frame.getChannel<cv::cuda::GpuMat>(kChanFlow, stream);
-	frame.getChannel<cv::cuda::GpuMat>(kChanDisparity, stream);
+	frame.upload(Channel::Flow, stream);
+	const cv::cuda::GpuMat &optflow = frame.get<cv::cuda::GpuMat>(Channel::Flow);
+	//frame.get<cv::cuda::GpuMat>(Channel::Disparity);
 	stream.waitForCompletion();
 	if (optflow.empty()) { return; }
 
-	cv::cuda::GpuMat &disp = frame.setChannel<cv::cuda::GpuMat>(kChanDisparity);
+	cv::cuda::GpuMat &disp = frame.create<cv::cuda::GpuMat>(Channel::Disparity);
 	ftl::cuda::optflow_filter(disp, optflow, disp_old_, n_max_, threshold_, stream);
 }