Experiment with post align filtering

applications/reconstruct/src/main.cpp

@@ -248,14 +248,18 @@ static void run(ftl::Configurable *root) {
 	bool busy = false;
 
 	// Create the source depth map filters
-	auto *filters = ftl::config::create<ftl::Filters>(root, "filters");
-	filters->create<ftl::filters::ColourChannels>("colour");
-	filters->create<ftl::filters::DepthSmoother>("hfnoise");
-	filters->create<ftl::filters::MLSSmoother>("mls");
+	auto *prefilter = ftl::config::create<ftl::Filters>(root, "pre_filters");
+	prefilter->create<ftl::filters::ColourChannels>("colour");
+	prefilter->create<ftl::filters::DepthSmoother>("hfnoise");
+	prefilter->create<ftl::filters::MLSSmoother>("mls");
+
+	auto *postfilter = ftl::config::create<ftl::Filters>(root, "post_filters");
+	postfilter->create<ftl::filters::DepthSmoother>("hfnoise");
+	postfilter->create<ftl::filters::MLSSmoother>("mls");
 
 	group->setLatency(4);
 	group->setName("ReconGroup");
-	group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,filters](ftl::rgbd::FrameSet &fs) -> bool {
+	group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,prefilter,postfilter](ftl::rgbd::FrameSet &fs) -> bool {
 		//cudaSetDevice(scene->getCUDADevice());
 
 		//if (slave.isPaused()) return true;
@@ -270,7 +274,7 @@ static void run(ftl::Configurable *root) {
 		// Swap the entire frameset to allow rapid return
 		fs.swapTo(scene_A);
 
-		ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align, filters](int id) {
+		ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align, prefilter, postfilter](int id) {
 			//cudaSetDevice(scene->getCUDADevice());
 			// TODO: Release frameset here...
 			//cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
@@ -281,13 +285,20 @@ static void run(ftl::Configurable *root) {
 			for (int i=0; i<scene_A.frames.size(); ++i) {
 				auto &f = scene_A.frames[i];
 				auto s = scene_A.sources[i];
-				filters->filter(f, s, 0);
+				prefilter->filter(f, s, 0);
 			}
 
 			// Send all frames to GPU, block until done?
 			//scene_A.upload(Channel::Colour + Channel::Depth);  // TODO: (Nick) Add scene stream.
 			align->process(scene_A);
 
+			// Apply post-filters to all frames
+			/*for (int i=0; i<scene_A.frames.size(); ++i) {
+				auto &f = scene_A.frames[i];
+				auto s = scene_A.sources[i];
+				postfilter->filter(f, s, 0);
+			}*/
+
 			// TODO: To use second GPU, could do a download, swap, device change,
 			// then upload to other device. Or some direct device-2-device copy.
 			scene_A.swapTo(scene_B);