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
@@ -63,17 +64,21 @@ 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
 	 * 
-	 * Returns non-const reference to channel data. Invalidates other copies of
-	 * the data (host/gpu) for the specified channel, next time getChannel() is
-	 * called a memory transfer may occur.
+	 * Returns non-const reference to channel memory. Invalidates other copies
+	 * of the data (host/gpu) for the specified channel, next time getChannel()
+	 * is called a memory transfer may occur.
+	 * 
+	 * NOTE:	If user of setChannel<T>() wants to modify contents instead of
+	 * 			replacing them, getChannel<T>() needs to be called first to
+	 * 			ensure there is valid contents in the returned reference!
+	 * 			(TODO: interface could be improved)
 	 */
 	template <typename T> T& setChannel(const ftl::rgbd::channel_t& channel);
 
@@ -108,9 +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);
 
 }