feature/vision operator

Closes #234 (closed)

components/operators/include/ftl/operators/disparity.hpp

+#pragma once
+
+
+#include <ftl/operators/operator.hpp>
+#include <opencv2/cudaoptflow.hpp>
+
+namespace ftl {
+namespace operators {
+
+/*
+ * Optical flow smoothing for disparity (or depth)
+ */
+class DisparitySmoothingOF : public ftl::operators::Operator {
+	public:
+	explicit DisparitySmoothingOF(ftl::Configurable*);
+	~DisparitySmoothingOF();
+
+	inline Operator::Type type() const override { return Operator::Type::OneToOne; }
+
+	bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, ftl::rgbd::Source *src, cudaStream_t stream) override;
+
+	private:
+	cv::cuda::GpuMat history_;
+};
+
+
+}
+}