Add full 3D MLS and carving

A new fusion operator that uses actual MLS of all sources combined with a visibility carving step. Next task is to construct a 4D scene model and fusion with that also.

components/operators/include/ftl/operators/fusion.hpp

+#ifndef _FTL_OPERATORS_FUSION_HPP_
+#define _FTL_OPERATORS_FUSION_HPP_
+
+#include <ftl/operators/operator.hpp>
+#include <ftl/operators/cuda/mls/multi_intensity.hpp>
+#include <vector>
+
+namespace ftl {
+namespace operators {
+
+class Fusion : public ftl::operators::Operator {
+	public:
+	Fusion(ftl::operators::Graph *g, ftl::Configurable*);
+	~Fusion();
+
+	inline Operator::Type type() const override { return Operator::Type::ManyToMany; }
+
+	bool apply(ftl::rgbd::FrameSet &in, ftl::rgbd::FrameSet &out, cudaStream_t stream) override;
+
+	private:
+	ftl::cuda::MLSMultiIntensity mls_;
+	std::vector<cv::cuda::GpuMat> weights_;
+	cv::cuda::GpuMat temp_;
+};
+
+}
+}
+
+#endif