CUDA optical flow smoothing

Closes #155 (closed)

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

@@ -19,20 +19,25 @@ 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;		// CV_32FC2 or CV_16FC2 (fix)
+static const channel_t kChanFlow = 0x0080;		// CV_16SC2 (format 10.5) from NVOF
 static const channel_t kChanEnergy = 0x0100;
-//static const channel_t kChanLeftGray = 0x0200;	// not used // CV_8UC1
-//static const channel_t kChanRightGray = 0x0400;	// not used // CV_8UC1
+
+// 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 {
@@ -100,8 +105,8 @@ private:
 			case kChanConfidence:		return 7;
 			case kChanFlow:				return 8;
 			case kChanEnergy:			return 9;
-//			case kChanLeftGray:			return 11;
-//			case kChanRightGray:		return 12;
+			case kChanLeftGray:			return 11;
+			case kChanRightGray:		return 12;
 			// should not happen (error); returned index is kChanNone
 			default:					return 0;
 		}