Implements #228 adaptive MLS and smoothing channel

Could do with a lot of improvement, but moving in right direction

applications/reconstruct/src/main.cpp

@@ -246,11 +246,14 @@ static void run(ftl::Configurable *root) {
 
 	bool busy = false;
 
-	auto *smooth = ftl::config::create<ftl::filters::MLSSmoother>(root, "filters");
+	// Create the source depth map filters
+	auto *filters = ftl::config::create<ftl::Filters>(root, "filters");
+	filters->create<ftl::filters::DepthSmoother>("hfnoise");
+	filters->create<ftl::filters::MLSSmoother>("mls");
 
 	group->setLatency(4);
 	group->setName("ReconGroup");
-	group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,smooth](ftl::rgbd::FrameSet &fs) -> bool {
+	group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls,filters](ftl::rgbd::FrameSet &fs) -> bool {
 		//cudaSetDevice(scene->getCUDADevice());
 
 		//if (slave.isPaused()) return true;
@@ -265,7 +268,7 @@ static void run(ftl::Configurable *root) {
 		// Swap the entire frameset to allow rapid return
 		fs.swapTo(scene_A);
 
-		ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align, smooth](int id) {
+		ftl::pool.push([&scene_B,&scene_A,&busy,&slave,&align, filters](int id) {
 			//cudaSetDevice(scene->getCUDADevice());
 			// TODO: Release frameset here...
 			//cudaSafeCall(cudaStreamSynchronize(scene->getIntegrationStream()));
@@ -296,7 +299,7 @@ static void run(ftl::Configurable *root) {
 						cv::cuda::cvtColor(tmp,col, cv::COLOR_BGR2BGRA, 0);
 					}
 
-					smooth->smooth(f, s);
+					filters->filter(f, s, 0);
 
 					/*ftl::cuda::smoothing_factor(
 						f.createTexture<float>(Channel::Depth),