feature/vision operator

Closes #234 (closed)

components/operators/src/disparity/bilateral_filter.cpp

+#include <ftl/operators/disparity.hpp>
+
+using cv::cuda::GpuMat;
+using cv::Size;
+
+using ftl::codecs::Channel;
+using ftl::operators::DisparityBilateralFilter;
+
+DisparityBilateralFilter::DisparityBilateralFilter(ftl::Configurable* cfg) :
+		ftl::operators::Operator(cfg) {
+	
+	scale_ = 16.0;
+	n_disp_ = cfg->value("n_disp", 256);
+	radius_ = cfg->value("radius", 7);
+	iter_ = cfg->value("iter", 13);
+	filter_ = cv::cuda::createDisparityBilateralFilter(n_disp_ * scale_, radius_, iter_);
+}
+
+bool DisparityBilateralFilter::apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out,
+									 ftl::rgbd::Source *src, cudaStream_t stream) {
+
+	if (!in.hasChannel(Channel::Disparity) || !in.hasChannel(Channel::Colour)) {
+		return false;
+	}
+	auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+	const GpuMat &rgb = in.get<GpuMat>(Channel::Colour);
+	GpuMat &disp_in = in.get<GpuMat>(Channel::Disparity);
+	GpuMat &disp_out = out.create<GpuMat>(Channel::Disparity);
+	disp_out.create(disp_in.size(), disp_in.type());
+
+	disp_in.convertTo(disp_int_, CV_16SC1, scale_, cvstream);
+	filter_->apply(disp_int_, rgb, disp_int_result_, cvstream);
+	disp_int_result_.convertTo(disp_out, disp_in.type(), 1.0/scale_, cvstream);
+	return true;
+}
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