CUDA optical flow smoothing

Closes #155 (closed)

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

@@ -36,49 +36,8 @@ public:
 	 * true.
 	 */
 
-	const cv::Mat& getChannel(const ftl::rgbd::channel_t& channel)
-	{
-		auto idx = _channelIdx(channel);
-		if (!(available_[idx] & mask_host))
-		{
-			if (available_[idx] & mask_gpu)
-			{
-				channels_gpu_[idx].download(channels_host_[idx]);
-				available_[idx] |= mask_host;
-			}
-		}
-
-		return channels_host_[idx];
-	}
-
-	cv::Mat& setChannel(const ftl::rgbd::channel_t& channel)
-	{
-		auto idx = _channelIdx(channel);
-		available_[idx] = mask_host;
-		return channels_host_[idx];
-	}
-
-	const cv::cuda::GpuMat& getChannelGpu(const ftl::rgbd::channel_t& channel)
-	{
-		auto idx = _channelIdx(channel);
-		if (!(available_[idx] & mask_gpu))
-		{
-			if (available_[idx] & mask_host)
-			{
-				channels_gpu_[idx].upload(channels_host_[idx]);
-				available_[idx] |= mask_gpu;
-			}
-		}
-		
-		return channels_gpu_[idx];
-	}
-
-	cv::cuda::GpuMat& setChannelGpu(const ftl::rgbd::channel_t& channel)
-	{
-		auto idx = _channelIdx(channel);
-		available_[idx] = mask_gpu;
-		return channels_gpu_[idx];
-	}
+	template <typename T> const T& getChannel(const ftl::rgbd::channel_t& channel);
+	template <typename T> T& setChannel(const ftl::rgbd::channel_t& channel);
 
 private:
 
@@ -112,4 +71,4 @@ private:
 };
 
 }
-}
\ No newline at end of file
+}