Merge branch 'main' into MotionVectorExtractorFix

base/CMakeLists.txt

@@ -314,6 +314,7 @@ SET(CUDA_CORE_FILES
  src/apra_cudamalloc_allocator.cu
  src/apra_cudamallochost_allocator.cu
  src/CudaMemCopy.cpp
+ src/MemTypeConversion.cpp
  src/CudaStreamSynchronize.cpp
  src/CuCtxSynchronize.cpp
  src/CudaCommon.cpp
@@ -323,6 +324,7 @@ SET(CUDA_CORE_FILES
 SET(CUDA_CORE_FILES_H
  include/CudaStreamSynchronize.h
  include/CudaMemCopy.h
+ include/MemTypeConversion.h
  include/apra_cudamallochost_allocator.h
  include/apra_cudamalloc_allocator.h
  include/CuCtxSynchronize.h
@@ -486,6 +488,7 @@ IF (ENABLE_CUDA)
  test/resizenppi_tests.cpp
  test/rotatenppi_tests.cpp
  test/ccnppi_tests.cpp
+ test/memtypeconversion_tests.cpp
  )
  IF(NOT ENABLE_ARM64) # following tests need CUDA but can not run on ARM ?
 

base/include/DMAFrameUtils.h

@@ -6,6 +6,7 @@
 #include "ImagePlaneData.h"
 #include "AIPExceptions.h"
 #include "DMAFDWrapper.h"
+#include "DMAAllocator.h"
 #include <memory>
 
 class DMAFrameUtils
@@ -22,27 +23,89 @@ class DMAFrameUtils
  {
  case FrameMetadata::FrameType::RAW_IMAGE:
  {
+ size_t pitch[4] = {0, 0, 0, 0};
  auto rawMetadata = FrameMetadataFactory::downcast<RawImageMetadata>(metadata);
- imagePlanes.push_back(std::make_shared<ImagePlaneData>(metadata->getDataSize(),
- rawMetadata->getStep(),
- rawMetadata->getRowSize(),
- rawMetadata->getWidth(),
- rawMetadata->getHeight()));
+ auto imageType = rawMetadata->getImageType();
+ FrameMetadata::MemType inputMemType = metadata->getMemType();
+ if (inputMemType == FrameMetadata::MemType::DMABUF)
+ {
+ int type = CV_8UC4;
+ switch (imageType)
+ {
+ case ImageMetadata::ImageType::RGBA:
+ case ImageMetadata::ImageType::BGRA:
+ type = CV_8UC4;
+ break;
+ case ImageMetadata::ImageType::UYVY:
+ case ImageMetadata::ImageType::YUYV:
+ type = CV_8UC3;
+ break;
+ default:
+ throw AIPException(AIP_FATAL, "Only Image Type accepted are UYVY or ARGB found " + std::to_string(imageType));
+ }
+ auto imageType = rawMetadata->getImageType();
+ auto metadata = framemetadata_sp(new RawImageMetadata(rawMetadata->getWidth(), rawMetadata->getHeight(), imageType, type, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF, true));
+ DMAAllocator::setMetadata(metadata, rawMetadata->getWidth(), rawMetadata->getHeight(), imageType, pitch);
+
+ imagePlanes.push_back(std::make_shared<ImagePlaneData>(metadata->getDataSize(),
+ pitch[0],
+ rawMetadata->getRowSize(),
+ rawMetadata->getWidth(),
+ rawMetadata->getHeight()));
+ }
+
+ else
+ {
+
+ imagePlanes.push_back(std::make_shared<ImagePlaneData>(metadata->getDataSize(),
+ rawMetadata->getStep(),
+ rawMetadata->getRowSize(),
+ rawMetadata->getWidth(),
+ rawMetadata->getHeight()));
+ }
+
  return getDMAFDHostImagePlanes;
  }
  case FrameMetadata::FrameType::RAW_IMAGE_PLANAR:
  {
  auto rawMetadata = FrameMetadataFactory::downcast<RawImagePlanarMetadata>(metadata);
  auto imageType = rawMetadata->getImageType();
-
  auto channels = rawMetadata->getChannels();
- for (auto i = 0; i < channels; i++)
+ FrameMetadata::MemType inputMemType = metadata->getMemType();
+ size_t pitch[4] = {0, 0, 0, 0};
+ size_t offset[4] = {0, 0, 0, 0};
+ size_t width[4];
+ size_t height[4];
+ if (inputMemType == FrameMetadata::MemType::DMABUF)
  {
- imagePlanes.push_back(std::make_shared<ImagePlaneData>(rawMetadata->getDataSizeByChannel(i),
- rawMetadata->getStep(i),
- rawMetadata->getRowSize(i),
- rawMetadata->getWidth(i),
- rawMetadata->getHeight(i)));
+ for (auto i = 0; i < channels; i++)
+ {
+ width[i] = rawMetadata->getWidth(i);
+ height[i] = rawMetadata->getHeight(i);
+ }
+ auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width[0], height[0], imageType, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF));
+ DMAAllocator::setMetadata(metadata, width[0], height[0], imageType, pitch, offset);
+
+ for (auto i = 0; i < channels; i++)
+ {
+ imagePlanes.push_back(std::make_shared<ImagePlaneData>(rawMetadata->getDataSizeByChannel(i),
+ pitch[i],
+ rawMetadata->getRowSize(i),
+ width[i],
+ height[i]));
+ }
+ }
+
+ else
+ {
+ for (auto i = 0; i < channels; i++)
+ {
+ imagePlanes.push_back(std::make_shared<ImagePlaneData>(rawMetadata->getDataSizeByChannel(i),
+ rawMetadata->getStep(i),
+ rawMetadata->getRowSize(i),
+ rawMetadata->getWidth(i),
+ rawMetadata->getHeight(i)));
+ }
  }
 
  switch (imageType)
@@ -62,8 +125,19 @@ class DMAFrameUtils
 
  static void getDMAFDHostImagePlanes(frame_sp &frame, ImagePlanes &imagePlanes)
  {
- auto ptr = static_cast<DMAFDWrapper *>(frame->data());
- imagePlanes[0]->data = ptr->getHostPtr();
+ auto inputMetadata = frame->getMetadata();
+ FrameMetadata::MemType mInputMemType = inputMetadata->getMemType();
+ if (mInputMemType == FrameMetadata::MemType::DMABUF)
+ {
+
+ auto ptr = static_cast<DMAFDWrapper *>(frame->data());
+ imagePlanes[0]->data = ptr->getHostPtr();
+ }
+ else
+ {
+ auto ptr = static_cast<uint8_t *>(frame->data());
+ imagePlanes[0]->data = ptr;
+ }
  }
 
  static void getDMAFDYUV420HostImagePlanes(frame_sp &frame, ImagePlanes &imagePlanes)

base/include/MemTypeConversion.h

@@ -0,0 +1,51 @@
+#pragma once
+
+#include "Module.h"
+#include "CudaCommon.h"
+
+class DetailMemory;
+class DetailDEVICEtoHOST;
+class DetailHOSTtoDEVICE;
+class DetailDMAtoHOST;
+class DetailHOSTtoDMA;
+class DetailDEVICEtoDMA;
+class DetailDMAtoDEVICE;
+
+class MemTypeConversionProps : public ModuleProps
+{
+public:
+ MemTypeConversionProps(FrameMetadata::MemType _outputMemType) : ModuleProps()
+ {
+ outputMemType = _outputMemType;
+ }
+
+ MemTypeConversionProps(FrameMetadata::MemType _outputMemType, cudastream_sp &_stream) : ModuleProps()
+ {
+ outputMemType = _outputMemType;
+ stream_sp = _stream;
+ stream = _stream->getCudaStream();
+ }
+
+ cudastream_sp stream_sp;
+ cudaStream_t stream;
+ FrameMetadata::MemType outputMemType;
+};
+
+class MemTypeConversion : public Module
+{
+public:
+ MemTypeConversion(MemTypeConversionProps _props);
+ virtual ~MemTypeConversion();
+ bool init();
+ bool term();
+
+protected:
+ bool process(frame_container &frames);
+ bool processSOS(frame_sp &frame);
+ bool validateInputPins();
+ bool validateOutputPins();
+ void addInputPin(framemetadata_sp &metadata, string &pinId); // throws exception if validation fails
+ bool processEOS(string &pinId);
+ std::shared_ptr<DetailMemory> mDetail;
+ MemTypeConversionProps mProps;
+};