vehicle-backup/ZJ_PRO_DMF_JETSON/webrtcinterop/common/algorithm/cuda/NvCudaProc.cpp

/*
 * Copyright (c) 2016, NVIDIA CORPORATION. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  * Neither the name of NVIDIA CORPORATION nor the names of its
 *    contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
 * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include <stdio.h>
#include <cuda_runtime_api.h>
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include <GLES2/gl2.h>
#include <GLES2/gl2ext.h>

#include <cuda.h>
#include <cuda_runtime.h>

#include "cudaEGL.h"
#include "NvAnalysis.h"

#include "NvCudaProc.h"

static void
Handle_EGLImage(EGLImageKHR image);

void
HandleEGLImage(void *pEGLImage)
{
    EGLImageKHR *pImage = (EGLImageKHR *)pEGLImage;
    Handle_EGLImage(*pImage);
}


/**
  * Performs CUDA Operations on egl image.
  *
  * @param image : EGL image
  */
static void
Handle_EGLImage(EGLImageKHR image)
{
    CUresult status;
    CUeglFrame eglFrame;
    CUgraphicsResource pResource = NULL;

    cudaFree(0);
    status = cuGraphicsEGLRegisterImage(&pResource, image,
                CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsEGLRegisterImage failed: %d, cuda process stop\n",
                        status);
        return;
    }

    status = cuGraphicsResourceGetMappedEglFrame(&eglFrame, pResource, 0, 0);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsSubResourceGetMappedArray failed\n");
    }

    status = cuCtxSynchronize();
    if (status != CUDA_SUCCESS)
    {
        printf("cuCtxSynchronize failed\n");
    }

    if (eglFrame.frameType == CU_EGL_FRAME_TYPE_PITCH)
    {
        //Rect label in plan Y, you can replace this with any cuda algorithms.
        addLabels((CUdeviceptr) eglFrame.frame.pPitch[0], eglFrame.pitch);
    }

    status = cuCtxSynchronize();
    if (status != CUDA_SUCCESS)
    {
        printf("cuCtxSynchronize failed after memcpy\n");
    }

    status = cuGraphicsUnregisterResource(pResource);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsEGLUnRegisterResource failed: %d\n", status);
    }
}

/**
  * Performs map egl image into cuda memory.
  *
  * @param pEGLImage: EGL image
  * @param width: Image width
  * @param height: Image height
  * @param color_format: The input color format
  * @param cuda_buf: destnation cuda address
  */
void mapEGLImage2Float(void* pEGLImage, int width, int height,
                        COLOR_FORMAT color_format,
                        void* cuda_buf,
                        void* offsets,
                        void* scales)
{
    CUresult status;
    CUeglFrame eglFrame;
    CUgraphicsResource pResource = NULL;
    EGLImageKHR *pImage = (EGLImageKHR *)pEGLImage;

    cudaFree(0);
    status = cuGraphicsEGLRegisterImage(&pResource, *pImage,
                CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsEGLRegisterImage failed: %d, cuda process stop\n",
                        status);
        return;
    }

    status = cuGraphicsResourceGetMappedEglFrame(&eglFrame, pResource, 0, 0);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsSubResourceGetMappedArray failed\n");
    }

    status = cuCtxSynchronize();
    if (status != CUDA_SUCCESS)
    {
        printf("cuCtxSynchronize failed\n");
    }

    if (eglFrame.frameType == CU_EGL_FRAME_TYPE_PITCH)
    {
        // Using GPU to convert int buffer into float buffer.
        convertIntToFloat((CUdeviceptr) eglFrame.frame.pPitch[0],
                          width,
                          height,
                          eglFrame.pitch,
                          color_format,
                          offsets,
                          scales,
                          cuda_buf);
    }
    status = cuCtxSynchronize();
    if (status != CUDA_SUCCESS)
    {
        printf("cuCtxSynchronize failed after memcpy\n");
    }

    status = cuGraphicsUnregisterResource(pResource);
    if (status != CUDA_SUCCESS)
    {
        printf("cuGraphicsEGLUnRegisterResource failed: %d\n", status);
    }
}

void convertEglFrameIntToFloat(void* pEglFrame, int width, int height,
                        COLOR_FORMAT color_format,
                        void* cuda_buf,
                        void* offsets,
                        void* scales, void* pstream)
{
    CUeglFrame eglFrame = *(CUeglFrame*)pEglFrame;

    if (eglFrame.frameType == CU_EGL_FRAME_TYPE_PITCH)
    {
        // Using GPU to convert int buffer into float buffer.
        convertIntToFloat((CUdeviceptr) eglFrame.frame.pPitch[0],
                          width,
                          height,
                          eglFrame.pitch,
                          color_format,
                          offsets,
                          scales,
                          cuda_buf, pstream);
    }
}