feature/frame class

Frame class to wrap all channels. Should be easier to use in code as access to any (available/calculated) channel is possible. Automatic transfers between host/gpu if not available in other.

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

@@ -56,6 +56,7 @@ public:
 
 	/* @brief	Method to get reference to the channel content
 	 * @param	Channel type
+	 * @param	CUDA stream
 	 * @returns	Const reference to channel data
 	 * 
 	 * Result is valid only if hasChannel() is true. Host/Gpu transfer is
@@ -63,10 +64,9 @@ public:
 	 * changed by calling setChannel(). Return value valid only if
 	 * hasChannel(channel) is true.
 	 */
-
+	template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
 	template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel);
 
-
 	/* @brief	Method to set/modify channel content
 	 * @param	Channel type
 	 * @returns	Reference to channel data
@@ -113,9 +113,13 @@ private:
 	std::vector<uint> available_;
 };
 
+template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
+template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel, cv::cuda::Stream& stream);
+
 template<> const cv::Mat& Frame::getChannel(const ftl::rgbd::channel_t& channel);
-template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
 template<> const cv::cuda::GpuMat& Frame::getChannel(const ftl::rgbd::channel_t& channel);
+
+template<> cv::Mat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
 template<> cv::cuda::GpuMat& Frame::setChannel(const ftl::rgbd::channel_t& channel);
 
 }