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

@@ -12,25 +12,32 @@ namespace rgbd {
 typedef unsigned int channel_t;
 
 static const channel_t kChanNone = 0;
-static const channel_t kChanLeft = 0x0001;
-static const channel_t kChanDepth = 0x0002;
-static const channel_t kChanRight = 0x0004;
-static const channel_t kChanDisparity = 0x0008;
+static const channel_t kChanLeft = 0x0001;		// CV_8UC3
+static const channel_t kChanDepth = 0x0002;		// CV_32FC1
+static const channel_t kChanRight = 0x0004;		// CV_8UC3
+static const channel_t kChanDisparity = 0x0008; // CV_32FC1
 static const channel_t kChanDeviation = 0x0010;
 static const channel_t kChanNormals = 0x0020;
 static const channel_t kChanConfidence = 0x0040;
-static const channel_t kChanFlow = 0x0080;
+static const channel_t kChanFlow = 0x0080;		// CV_16SC2 (format 10.5) from NVOF
 static const channel_t kChanEnergy = 0x0100;
 
+// should l/r gray be removed (not that expensive to re-calculate if needed)?
+static const channel_t kChanLeftGray = 0x0200;	// CV_8UC1
+static const channel_t kChanRightGray = 0x0400;	// CV_8UC1
+
 static const channel_t kChanOverlay1 = 0x1000;
 
 // maximum number of available channels
-static const unsigned int n_channels = 11;
+static const unsigned int n_channels = 13;
 
 inline bool isFloatChannel(ftl::rgbd::channel_t chan) {
 	return (chan == ftl::rgbd::kChanDepth || chan == ftl::rgbd::kChanEnergy);
 }
 
+// TODO:	interpolation for scaling depends on channel type;
+//			NN for depth/disparity/optflow, linear/cubic/etc. for RGB
+
 class Frame;
 
 class Frame {
@@ -56,6 +63,7 @@ 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 +71,9 @@ 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
@@ -98,6 +105,8 @@ private:
 			case kChanConfidence:		return 7;
 			case kChanFlow:				return 8;
 			case kChanEnergy:			return 9;
+			case kChanLeftGray:			return 11;
+			case kChanRightGray:		return 12;
 			// should not happen (error); returned index is kChanNone
 			default:					return 0;
 		}
@@ -113,9 +122,13 @@ 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);
 
 }