enable optflow in gitlab-ci (Windows)

.gitlab-ci.yml

@@ -32,7 +32,7 @@ linux:
 windows:
   stage: all
   variables:
-    CMAKE_ARGS: '-DWITH_PCL=FALSE -DCMAKE_GENERATOR_PLATFORM=x64 -DNVPIPE_DIR="D:/Build/NvPipe" -DEigen3_DIR="C:/Program Files (x86)/Eigen3/share/eigen3/cmake" -DOpenCV_DIR="D:/Build/opencv-4.1.1" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1"'
+    CMAKE_ARGS: '-DWITH_OPTFLOW=TRUE -DWITH_PCL=FALSE -DCMAKE_GENERATOR_PLATFORM=x64 -DNVPIPE_DIR="D:/Build/NvPipe" -DEigen3_DIR="C:/Program Files (x86)/Eigen3/share/eigen3/cmake" -DOpenCV_DIR="D:/Build/opencv-4.1.1" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.1"'
     DEPLOY_DIR: 'D:/Shared/AutoDeploy'
   tags:
     - win

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
 }