feat: CV-CUDA Release v0.4.0 Beta changes and operators

.gitattributes

@@ -20,3 +20,4 @@
 *.bmp filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.a filter=lfs diff=lfs merge=lfs -text
+*.hdf5 filter=lfs diff=lfs merge=lfs -text

3rdparty/cuOSD/aarch64/include/cuosd.h

@@ -0,0 +1,178 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef CUOSD_H
+#define CUOSD_H
+
+typedef struct
+{
+} cuOSDContext;
+
+typedef cuOSDContext *cuOSDContext_t;
+
+enum class cuOSDClockFormat : int
+{
+    None          = 0,
+    YYMMDD_HHMMSS = 1,
+    YYMMDD        = 2,
+    HHMMSS        = 3
+};
+
+enum class cuOSDImageFormat : int
+{
+    None            = 0,
+    RGB             = 1,
+    RGBA            = 2,
+    BlockLinearNV12 = 3,
+    PitchLinearNV12 = 4
+};
+
+enum class cuOSDTextBackend : int
+{
+    None        = 0,
+    PangoCairo  = 1,
+    StbTrueType = 2
+};
+
+typedef struct _cuOSDColor
+{
+    unsigned char r;
+    unsigned char g;
+    unsigned char b;
+    unsigned char a;
+} cuOSDColor;
+
+// cuosd_context_create: support online generate text bitmap with required font.
+cuOSDContext_t cuosd_context_create();
+
+// set context text rendering backend
+void cuosd_set_text_backend(cuOSDContext_t context, cuOSDTextBackend text_backend);
+
+// cuosd_context_destroy: deallocate all resource related to allocated cuOSD context
+void cuosd_context_destroy(cuOSDContext_t context);
+
+// cuosd_measure_text: API to get tight width, height and upper offset from the given text's tight bounding box
+void cuosd_measure_text(cuOSDContext_t context, const char *utf8_text, int font_size, const char *font, int *width,
+                        int *height, int *yoffset);
+
+// cuosd_draw_text: draw utf8 text on given cuOSD context.
+// x, y stands for left upper corner of the text's bounding box.
+// bg_color stands for textbox background color in case alpha != 0
+// Draw nothing if font_size <=0, font_size is scaled by 3 and clamped to 10 - 500 pixels by default
+void cuosd_draw_text(cuOSDContext_t context, const char *utf8_text, int font_size, const char *font, int x, int y,
+                     cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_clock: draw clock element on given cuOSD context.
+// x, y stands for left upper corner of the text's bounding box. 3 clock formats are supported:
+//      YYMMDD_HHMMSS, YYMMDD, HHMMSS
+// Draw nothing if font_size <=0, font_size is scaled by 3 and clamped to 10 - 500 pixels by default
+void cuosd_draw_clock(cuOSDContext_t context, cuOSDClockFormat format, long time, int font_size, const char *font,
+                      int x, int y, cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_line: draw line element on given cuOSD context.
+// x0, y0 stands for start point coordinate of the line, and x1, y1 stands for end point coordinate of the line.
+void cuosd_draw_line(cuOSDContext_t context, int x0, int y0, int x1, int y1, int thickness, cuOSDColor color,
+                     bool interpolation = true);
+
+// cuosd_draw_arrow: draw arrow element on given cuOSD context.
+// x0, y0 stands for start point coordinate of the arrow, and x1, y1 stands for end point coordinate of the arrow.
+void cuosd_draw_arrow(cuOSDContext_t context, int x0, int y0, int x1, int y1, int arrow_size, int thickness,
+                      cuOSDColor color, bool interpolation = false);
+
+// cuosd_draw_point: draw point element on given cuOSD context.
+// cx, cy stands for center point coordinate of the point.
+void cuosd_draw_point(cuOSDContext_t context, int cx, int cy, int radius, cuOSDColor color);
+
+// cuosd_draw_circle: draw circle element on given cuOSD context.
+// cx, cy stands for center point coordinate of the circle.
+// thickness stands for border width when thickness > 0; stands for filled mode when thickness = -1.
+// bg_color stands for inner color inside hollow circle in case alpha != 0
+void cuosd_draw_circle(cuOSDContext_t context, int cx, int cy, int radius, int thickness, cuOSDColor border_color,
+                       cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_rectangle: draw rectangle element on given cuOSD context.
+// thickness stands for border width when thickness > 0; stands for filled mode when thickness = -1.
+// bg_color stands for inner color inside hollow rectangle in case alpha != 0
+void cuosd_draw_rectangle(cuOSDContext_t context, int left, int top, int right, int bottom, int thickness,
+                          cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_boxblur: Mean filtering in the region of interest
+// The region of interest is first scaled to 32x32, filtered, and then scaled to the region of interest by nearest neighbor interpolation
+// It is executed by a separate kernel function that is independent from the other drawing functions
+void cuosd_draw_boxblur(cuOSDContext_t context, int left, int top, int right, int bottom, int kernel_size = 7);
+
+// cuosd_draw_rotationbox: draw rotated rectangle element on given cuOSD context.
+// yaw: rotation angle from y-axis, clockwise +, unit in rad.
+void cuosd_draw_rotationbox(cuOSDContext_t _context, int cx, int cy, int width, int height, float yaw, int thickness,
+                            cuOSDColor border_color, bool interpolation = false, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_segmentmask: draw segmentation mask on given cuOSD context.
+// d_seg: device pointer of segmentation mask, alpha in seg_color is ignored.
+// thickness should > 0 for drawing border, threshold: Threshold for binarization
+//   1. resize mask rect to object rect of given left, top, right, bottom.
+//   2. set the alpha to 127 if mask value > threshold, else alpha = 0.
+void cuosd_draw_segmentmask(cuOSDContext_t context, int left, int top, int right, int bottom, int thickness,
+                            float *d_seg, int seg_width, int seg_height, float seg_threshold, cuOSDColor border_color,
+                            cuOSDColor seg_color = {0, 0, 0, 0});
+
+// cuosd_draw_polyline: draw polyline element on given cuOSD context.
+// h_pts: host point of polyline points in { int x, int y } data format.
+// d_pts: device point of polyline points, shall not be nullptr if fill_color.a != 0.
+// n_pts: number of polyline points, thickness: polyline thickness.
+// is_closed: if the end point shall be connected to start point.
+// border_color: polyline color, fill_color: polyfill color.
+void cuosd_draw_polyline(cuOSDContext_t context, int *h_pts, int *d_pts, int n_pts, int thickness, bool is_closed,
+                         cuOSDColor border_color, bool interpolation = true, cuOSDColor fill_color = {0, 0, 0, 0});
+
+// cuosd_draw_rgba_source: draw color from rgba source image on given cuOSD context.
+//   1. resize incoming rgba source rect to target rect of given left, top, right, bottom.
+//   2. blend incoming rgba src on target image rect in bilinear interpolation manner.
+void cuosd_draw_rgba_source(cuOSDContext_t _context, int left, int top, int right, int bottom, void *d_src,
+                            int src_width, int src_stride, int src_height);
+
+// cuosd_draw_nv12_source: draw color from nv12 source image on given cuOSD context.
+//   1. resize incoming nv12 source rect to target rect of given left, top, right, bottom.
+//   2. blend incoming nv12 src on target image rect in bilinear interpolation manner.
+//   note: use unified alpha and can support both PL and BL nv12 format.
+void cuosd_draw_nv12_source(cuOSDContext_t context, int left, int top, int right, int bottom, void *d_src0,
+                            void *d_src1, int src_width, int src_stride, int src_height, unsigned char alpha = 127,
+                            bool block_linear = false);
+
+// cuosd_apply: calculate bounding box of all elements and transfer drawing commands to GPU.
+// If format is RGBA, data0 is RGBA buffer, and data1 must be nullptr.
+// If format is BlockLinearNV12, data0 and data1 is cudaSurfaceObject_t for Luma(Y) plane and Chroma(UV) plane
+// If format is PitchLinearNV12, data0 is Luma(Y) plane buffer, and data1 is Chroma(UV) plane buffer
+void cuosd_apply(cuOSDContext_t context, void *data0, void *data1, int width, int stride, int height,
+                 cuOSDImageFormat format, void *stream = nullptr, bool launch_and_clear = true);
+
+// clear all pushed commands
+void cuosd_clear(cuOSDContext_t context);
+
+// cuosd_launch: launch drawing kernel in async manner.
+// If format is RGBA, data0 is RGBA buffer, and data1 must be nullptr.
+// If format is BlockLinearNV12, data0 and data1 is cudaSurfaceObject_t for Luma(Y) plane and Chroma(UV) plane
+// If format is PitchLinearNV12, data0 is Luma(Y) plane buffer, and data1 is Chroma(UV) plane buffer
+void cuosd_launch(cuOSDContext_t context, void *data0, void *data1, int width, int stride, int height,
+                  cuOSDImageFormat format, void *stream = nullptr);
+
+#endif // CUOSD_H

3rdparty/cuOSD/x86_64/include/cuosd.h

@@ -0,0 +1,178 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef CUOSD_H
+#define CUOSD_H
+
+typedef struct
+{
+} cuOSDContext;
+
+typedef cuOSDContext *cuOSDContext_t;
+
+enum class cuOSDClockFormat : int
+{
+    None          = 0,
+    YYMMDD_HHMMSS = 1,
+    YYMMDD        = 2,
+    HHMMSS        = 3
+};
+
+enum class cuOSDImageFormat : int
+{
+    None            = 0,
+    RGB             = 1,
+    RGBA            = 2,
+    BlockLinearNV12 = 3,
+    PitchLinearNV12 = 4
+};
+
+enum class cuOSDTextBackend : int
+{
+    None        = 0,
+    PangoCairo  = 1,
+    StbTrueType = 2
+};
+
+typedef struct _cuOSDColor
+{
+    unsigned char r;
+    unsigned char g;
+    unsigned char b;
+    unsigned char a;
+} cuOSDColor;
+
+// cuosd_context_create: support online generate text bitmap with required font.
+cuOSDContext_t cuosd_context_create();
+
+// set context text rendering backend
+void cuosd_set_text_backend(cuOSDContext_t context, cuOSDTextBackend text_backend);
+
+// cuosd_context_destroy: deallocate all resource related to allocated cuOSD context
+void cuosd_context_destroy(cuOSDContext_t context);
+
+// cuosd_measure_text: API to get tight width, height and upper offset from the given text's tight bounding box
+void cuosd_measure_text(cuOSDContext_t context, const char *utf8_text, int font_size, const char *font, int *width,
+                        int *height, int *yoffset);
+
+// cuosd_draw_text: draw utf8 text on given cuOSD context.
+// x, y stands for left upper corner of the text's bounding box.
+// bg_color stands for textbox background color in case alpha != 0
+// Draw nothing if font_size <=0, font_size is scaled by 3 and clamped to 10 - 500 pixels by default
+void cuosd_draw_text(cuOSDContext_t context, const char *utf8_text, int font_size, const char *font, int x, int y,
+                     cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_clock: draw clock element on given cuOSD context.
+// x, y stands for left upper corner of the text's bounding box. 3 clock formats are supported:
+//      YYMMDD_HHMMSS, YYMMDD, HHMMSS
+// Draw nothing if font_size <=0, font_size is scaled by 3 and clamped to 10 - 500 pixels by default
+void cuosd_draw_clock(cuOSDContext_t context, cuOSDClockFormat format, long time, int font_size, const char *font,
+                      int x, int y, cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_line: draw line element on given cuOSD context.
+// x0, y0 stands for start point coordinate of the line, and x1, y1 stands for end point coordinate of the line.
+void cuosd_draw_line(cuOSDContext_t context, int x0, int y0, int x1, int y1, int thickness, cuOSDColor color,
+                     bool interpolation = true);
+
+// cuosd_draw_arrow: draw arrow element on given cuOSD context.
+// x0, y0 stands for start point coordinate of the arrow, and x1, y1 stands for end point coordinate of the arrow.
+void cuosd_draw_arrow(cuOSDContext_t context, int x0, int y0, int x1, int y1, int arrow_size, int thickness,
+                      cuOSDColor color, bool interpolation = false);
+
+// cuosd_draw_point: draw point element on given cuOSD context.
+// cx, cy stands for center point coordinate of the point.
+void cuosd_draw_point(cuOSDContext_t context, int cx, int cy, int radius, cuOSDColor color);
+
+// cuosd_draw_circle: draw circle element on given cuOSD context.
+// cx, cy stands for center point coordinate of the circle.
+// thickness stands for border width when thickness > 0; stands for filled mode when thickness = -1.
+// bg_color stands for inner color inside hollow circle in case alpha != 0
+void cuosd_draw_circle(cuOSDContext_t context, int cx, int cy, int radius, int thickness, cuOSDColor border_color,
+                       cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_rectangle: draw rectangle element on given cuOSD context.
+// thickness stands for border width when thickness > 0; stands for filled mode when thickness = -1.
+// bg_color stands for inner color inside hollow rectangle in case alpha != 0
+void cuosd_draw_rectangle(cuOSDContext_t context, int left, int top, int right, int bottom, int thickness,
+                          cuOSDColor border_color, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_boxblur: Mean filtering in the region of interest
+// The region of interest is first scaled to 32x32, filtered, and then scaled to the region of interest by nearest neighbor interpolation
+// It is executed by a separate kernel function that is independent from the other drawing functions
+void cuosd_draw_boxblur(cuOSDContext_t context, int left, int top, int right, int bottom, int kernel_size = 7);
+
+// cuosd_draw_rotationbox: draw rotated rectangle element on given cuOSD context.
+// yaw: rotation angle from y-axis, clockwise +, unit in rad.
+void cuosd_draw_rotationbox(cuOSDContext_t _context, int cx, int cy, int width, int height, float yaw, int thickness,
+                            cuOSDColor border_color, bool interpolation = false, cuOSDColor bg_color = {0, 0, 0, 0});
+
+// cuosd_draw_segmentmask: draw segmentation mask on given cuOSD context.
+// d_seg: device pointer of segmentation mask, alpha in seg_color is ignored.
+// thickness should > 0 for drawing border, threshold: Threshold for binarization
+//   1. resize mask rect to object rect of given left, top, right, bottom.
+//   2. set the alpha to 127 if mask value > threshold, else alpha = 0.
+void cuosd_draw_segmentmask(cuOSDContext_t context, int left, int top, int right, int bottom, int thickness,
+                            float *d_seg, int seg_width, int seg_height, float seg_threshold, cuOSDColor border_color,
+                            cuOSDColor seg_color = {0, 0, 0, 0});
+
+// cuosd_draw_polyline: draw polyline element on given cuOSD context.
+// h_pts: host point of polyline points in { int x, int y } data format.
+// d_pts: device point of polyline points, shall not be nullptr if fill_color.a != 0.
+// n_pts: number of polyline points, thickness: polyline thickness.
+// is_closed: if the end point shall be connected to start point.
+// border_color: polyline color, fill_color: polyfill color.
+void cuosd_draw_polyline(cuOSDContext_t context, int *h_pts, int *d_pts, int n_pts, int thickness, bool is_closed,
+                         cuOSDColor border_color, bool interpolation = true, cuOSDColor fill_color = {0, 0, 0, 0});
+
+// cuosd_draw_rgba_source: draw color from rgba source image on given cuOSD context.
+//   1. resize incoming rgba source rect to target rect of given left, top, right, bottom.
+//   2. blend incoming rgba src on target image rect in bilinear interpolation manner.
+void cuosd_draw_rgba_source(cuOSDContext_t _context, int left, int top, int right, int bottom, void *d_src,
+                            int src_width, int src_stride, int src_height);
+
+// cuosd_draw_nv12_source: draw color from nv12 source image on given cuOSD context.
+//   1. resize incoming nv12 source rect to target rect of given left, top, right, bottom.
+//   2. blend incoming nv12 src on target image rect in bilinear interpolation manner.
+//   note: use unified alpha and can support both PL and BL nv12 format.
+void cuosd_draw_nv12_source(cuOSDContext_t context, int left, int top, int right, int bottom, void *d_src0,
+                            void *d_src1, int src_width, int src_stride, int src_height, unsigned char alpha = 127,
+                            bool block_linear = false);
+
+// cuosd_apply: calculate bounding box of all elements and transfer drawing commands to GPU.
+// If format is RGBA, data0 is RGBA buffer, and data1 must be nullptr.
+// If format is BlockLinearNV12, data0 and data1 is cudaSurfaceObject_t for Luma(Y) plane and Chroma(UV) plane
+// If format is PitchLinearNV12, data0 is Luma(Y) plane buffer, and data1 is Chroma(UV) plane buffer
+void cuosd_apply(cuOSDContext_t context, void *data0, void *data1, int width, int stride, int height,
+                 cuOSDImageFormat format, void *stream = nullptr, bool launch_and_clear = true);
+
+// clear all pushed commands
+void cuosd_clear(cuOSDContext_t context);
+
+// cuosd_launch: launch drawing kernel in async manner.
+// If format is RGBA, data0 is RGBA buffer, and data1 must be nullptr.
+// If format is BlockLinearNV12, data0 and data1 is cudaSurfaceObject_t for Luma(Y) plane and Chroma(UV) plane
+// If format is PitchLinearNV12, data0 is Luma(Y) plane buffer, and data1 is Chroma(UV) plane buffer
+void cuosd_launch(cuOSDContext_t context, void *data0, void *data1, int width, int stride, int height,
+                  cuOSDImageFormat format, void *stream = nullptr);
+
+#endif // CUOSD_H