Feature/of smoothing

Initial Optical Flow smoothing for disparity images

components/rgbd-sources/include/ftl/offilter.hpp

+#pragma once
+#include <opencv2/core.hpp>
+#include <opencv2/core/cuda.hpp>
+#include <opencv2/cudaoptflow.hpp>
+
+namespace ftl {
+namespace rgbd {
+
+class OFDisparityFilter {
+public:
+	OFDisparityFilter() : n_max_(0), threshold_(0.0), size_(0, 0) {} // TODO: invalid state
+	OFDisparityFilter(cv::Size size, int n_frames, float threshold);
+	void filter(cv::Mat &disp, const cv::Mat &rgb);
+
+private:
+	int n_;
+	int n_max_;
+	float threshold_;
+	cv::Size size_;
+
+	cv::Mat disp_;
+	cv::Mat gray_;
+
+	cv::Mat flowxy_;
+	cv::Mat flowxy_up_;
+
+	cv::Ptr<cv::cuda::NvidiaOpticalFlow_1_0> nvof_;
+};
+
+}
+}
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