Resolves #343 GUI and Frame Refactor

Major rewrite of the GUI into a module and view form, also using a new Feed class. The frame and frameset data structures have also been rewritten to support memory pooling and response frames.

applications/reconstruct2/src/main.cpp

+#include <ftl/configuration.hpp>
+#include <ftl/net.hpp>
+#include <ftl/streams/feed.hpp>
+#include <ftl/master.hpp>
+#include <nlohmann/json.hpp>
+#include <loguru.hpp>
+
+#include "ftl/operators/smoothing.hpp"
+#include "ftl/operators/colours.hpp"
+#include "ftl/operators/normals.hpp"
+#include "ftl/operators/filling.hpp"
+#include "ftl/operators/segmentation.hpp"
+#include "ftl/operators/mask.hpp"
+#include "ftl/operators/antialiasing.hpp"
+#include "ftl/operators/mvmls.hpp"
+#include "ftl/operators/clipping.hpp"
+#include <ftl/operators/disparity.hpp>
+#include <ftl/operators/poser.hpp>
+#include <ftl/operators/detectandtrack.hpp>
+
+using ftl::net::Universe;
+using ftl::stream::Feed;
+using ftl::codecs::Channel;
+using std::vector;
+using std::string;
+
+static void threadSetCUDADevice() {
+	// Ensure all threads have correct cuda device
+	std::atomic<int> ijobs = 0;
+	for (int i=0; i<ftl::pool.size(); ++i) {
+		ftl::pool.push([&ijobs](int id) {
+			ftl::cuda::setDevice();
+			++ijobs;
+			while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+		});
+	}
+	while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
+}
+
+static void run(ftl::Configurable *root) {
+	// Use other GPU if available.
+	ftl::cuda::setDevice(ftl::cuda::deviceCount()-1);
+	threadSetCUDADevice();
+	ftl::timer::setClockSlave(false);
+	ftl::timer::setHighPrecision(true);
+
+	Universe *net = ftl::create<Universe>(root, "net");
+	ftl::ctrl::Master ctrl(root, net);
+
+	net->start();
+	net->waitConnections();
+
+	Feed *feed = ftl::create<Feed>(root, "feed", net);
+	std::string group_name = root->value("group", std::string("Reconstruction"));
+
+	// Add sources here
+	if (root->getConfig().contains("sources")) {
+		for (const auto &s : root->getConfig()["sources"]) {
+			ftl::URI uri(s);
+			uri.setAttribute("group", group_name);
+			feed->add(uri);
+		}
+	}
+
+	// Add sources from command line as well
+	auto paths = root->get<vector<string>>("paths");
+	string file = "";
+
+	for (auto &x : *paths) {
+		if (x != "") {
+			ftl::URI uri(x);
+			uri.setAttribute("group", group_name);
+			feed->add(uri);
+		}
+	}
+
+	// Automatically add any new sources
+	auto nsrc_handle = feed->onNewSources([feed,group_name](const vector<string> &srcs) {
+		for (const auto &s : srcs) {
+			ftl::URI uri(s);
+			uri.setAttribute("group", group_name);
+			feed->add(uri);
+		}
+		return true;
+	});
+
+	auto *filter = feed->filter({Channel::Colour, Channel::Depth});
+	feed->set("uri", root->value("uri", std::string("ftl://ftlab.utu.fi/reconstruction")));
+	feed->setPipelineCreator([](ftl::operators::Graph *pipeline) {
+		pipeline->append<ftl::operators::DepthChannel>("depth");  // Ensure there is a depth channel
+		pipeline->append<ftl::operators::DisparityBilateralFilter>("bilateral_filter")->value("enabled", false);
+		pipeline->append<ftl::operators::DisparityToDepth>("calculate_depth")->value("enabled", false);
+		pipeline->append<ftl::operators::ColourChannels>("colour");  // Convert BGR to BGRA
+		pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
+		pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
+		pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
+		//pipeline_->append<ftl::operators::HFSmoother>("hfnoise");  // Remove high-frequency noise
+		pipeline->append<ftl::operators::Normals>("normals");  // Estimate surface normals
+		//pipeline_->append<ftl::operators::SmoothChannel>("smoothing");  // Generate a smoothing channel
+		//pipeline_->append<ftl::operators::ScanFieldFill>("filling");  // Generate a smoothing channel
+		pipeline->append<ftl::operators::CrossSupport>("cross");
+		pipeline->append<ftl::operators::DiscontinuityMask>("discontinuity");
+		pipeline->append<ftl::operators::CrossSupport>("cross2")->value("discon_support", true);
+		pipeline->append<ftl::operators::BorderMask>("border_mask")->value("enabled", false);
+		pipeline->append<ftl::operators::CullDiscontinuity>("remove_discontinuity")->set("enabled", false);
+		//pipeline_->append<ftl::operators::AggreMLS>("mls");  // Perform MLS (using smoothing channel)
+		pipeline->append<ftl::operators::VisCrossSupport>("viscross")->value("enabled", false);
+		pipeline->append<ftl::operators::MultiViewMLS>("mvmls");
+		pipeline->append<ftl::operators::Poser>("poser")->value("enabled", false);
+	});
+	//feed->lowLatencyMode();
+	feed->startStreaming(filter);
+
+	// Just do whatever jobs are available
+	while (ftl::running) {
+		auto f = ftl::pool.pop();
+		if (f) {
+			f(-1);
+		} else {
+			std::this_thread::sleep_for(std::chrono::milliseconds(10));
+		}
+	}
+
+	nsrc_handle.cancel();
+	feed->stopRecording();
+	feed->removeFilter(filter);
+
+	net->shutdown();
+	LOG(INFO) << "Stopping...";
+	ftl::timer::stop(true);
+	LOG(INFO) << "Timer stopped...";
+	ftl::pool.stop(true);
+	LOG(INFO) << "All threads stopped.";
+
+	delete feed;
+	delete net;
+	delete root;
+}
+
+int main(int argc, char **argv) {
+	run(ftl::configure(argc, argv, "reconstruction_default"));
+
+	// Save config changes and delete final objects
+	ftl::config::cleanup();
+
+	return ftl::exit_code;
+}