Development jetpack6 upgrade

base/CMakeLists.txt

@@ -54,7 +54,7 @@ find_package(LibLZMA REQUIRED)
 find_package(FFMPEG REQUIRED)
 find_package(ZXing CONFIG REQUIRED)
 find_package(bigint CONFIG REQUIRED)
-find_package(SFML COMPONENTS system window audio graphics CONFIG REQUIRED)
+find_package(SFML COMPONENTS System Window Audio Graphics CONFIG REQUIRED)
 find_package(whisper CONFIG REQUIRED)
 
 
@@ -188,15 +188,15 @@ SET(CORE_FILES
 	src/Split.cpp
 	src/Utils.cpp
 	src/FIndexStrategy.cpp
-	src/AudioCaptureSrc.cpp
+	#src/AudioCaptureSrc.cpp
 	src/QRReader.cpp
-	src/Mp4WriterSink.cpp
+	#src/Mp4WriterSink.cpp
 	src/Mp4WriterSinkUtils.cpp
 	src/MultimediaQueueXform.cpp
 	src/Mp4ReaderSource.cpp
 	src/RTSPClientSrc.cpp
 	src/RTSPClientSrc.cpp
-	src/MotionVectorExtractor.cpp
+	#src/MotionVectorExtractor.cpp
 	src/OverlayModule.cpp
 	src/OrderedCacheOfFiles.cpp
 	src/SimpleControlModule.cpp
@@ -409,24 +409,24 @@ SET(CUDA_IP_FILES
 
 IF(ENABLE_ARM64)
 	SET(CUDA_IP_FILES ${CUDA_IP_FILES}
-		# src/JPEGDecoderL4TM.cpp
-		# src/JPEGDecoderL4TMHelper.cpp
+		src/JPEGDecoderL4TM.cpp
+		src/JPEGDecoderL4TMHelper.cpp
 		src/JPEGEncoderL4TM.cpp
 		src/JPEGEncoderL4TMHelper.cpp
 		src/AV4L2Buffer.cpp
 		src/AV4L2ElementPlane.cpp
-		# src/H264EncoderV4L2Helper.cpp
-		# src/V4L2CUYUV420Converter.cpp
-		# src/H264EncoderV4L2.cpp
+		src/H264EncoderV4L2Helper.cpp
+		src/V4L2CUYUV420Converter.cpp
+		src/H264EncoderV4L2.cpp
 		src/DMAFDWrapper.cpp
-		# src/NvArgusCameraHelper.cpp
-		# src/NvArgusCamera.cpp
+	    src/NvArgusCameraHelper.cpp
+	    src/NvArgusCamera.cpp
 		# src/NvV4L2Camera.cpp
 		# src/NvV4L2CameraHelper.cpp
 		# src/EglRenderer.cpp
 		# src/NvEglRenderer.cpp
 		src/DMAUtils.cpp
-		# src/NvTransform.cpp
+		src/NvTransform.cpp
 		src/ApraEGLDisplay.cpp
 		src/DMAFDToHostCopy.cpp
 		src/H264DecoderV4L2Helper.cpp
@@ -531,16 +531,16 @@ target_include_directories ( aprapipes PRIVATE
 
 IF (ENABLE_ARM64)
 	SET(ARM64_UT_FILES
-		# test/jpegencoderl4tm_tests.cpp
-		# test/jpegdecoderl4tm_tests.cpp
+		test/jpegencoderl4tm_tests.cpp
+		test/jpegdecoderl4tm_tests.cpp
 #		test/l4tm_dec_enc_1_tests.cpp  #todo this test needs to be improved to add to jetson suite
-		# test/opencvresize_tests.cpp
+		#test/opencvresize_tests.cpp
 		# test/h264encoderv4l2_tests.cpp
-		# test/nvarguscamerahelper_tests.cpp
-		# test/nvarguscamera_tests.cpp
+		#test/nvarguscamerahelper_tests.cpp
+		test/nvarguscamera_tests.cpp
 		# test/nvv4l2camera_test.cpp
 		# test/nvv4l2camerahelper_test.cpp
-		# test/nvtransform_tests.cpp
+	    test/nvtransform_tests.cpp
 		# test/eglrenderer_test.cpp
 		# test/cuda_arm_tests.cpp
 		# test/apraegldisplay_tests.cpp
@@ -577,7 +577,7 @@ ENDIF(ENABLE_CUDA)
 SET(UT_FILES
 	test/utmain.cpp
 	test/unit_tests.cpp
-	test/cv_memory_leaks_tests.cpp
+	#test/cv_memory_leaks_tests.cpp--
 	test/module_tests.cpp
 	# test/calchistogramcv_tests.cpp
 	# test/filenamestrategy_tests.cpp
@@ -692,7 +692,10 @@ target_link_libraries(aprapipesut
   ZLIB::ZLIB
   LibLZMA::LibLZMA
   bigint::bigint
-  sfml-audio
+  SFML::Audio
+  SFML::System
+  SFML::Window
+  SFML::Graphics
   whisper::whisper
   /usr/lib/aarch64-linux-gnu/libEGL.so.1.1.0
 

base/include/DMAFrameUtils.h

@@ -82,6 +82,7 @@ class DMAFrameUtils
                 {
                     width[i] = rawMetadata->getWidth(i);
                     height[i] = rawMetadata->getHeight(i);
+                    pitch[i]=rawMetadata->getStep(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);

base/include/DMAUtils.h

@@ -1,14 +1,27 @@
 #pragma once
 
-
 #include "EGL/egl.h"
 #include "cudaEGL.h"
-
+#include <nvbufsurface.h> // Include the new header for NvBufSurface
 
 class Frame;
 class DMAUtils {
 public:
-		static uint8_t* getCudaPtrForFD(int fd, EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay);
-        static uint8_t* getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay);
-        static void freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, EGLDisplay eglDisplay);
-};
+    /**
+     * @brief Registers an EGLImage as a CUDA resource and maps it to a CUeglFrame.
+     * @param eglImage The EGL image handle.
+     * @param pResource Pointer to the CUgraphicsResource handle.
+     * @param pEglFrame Pointer to the CUeglFrame structure to fill.
+     * @return A pointer to the CUDA mapped buffer, or nullptr on failure.
+     */
+    static uint8_t* getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame *pEglFrame);
+
+    /**
+     * @brief Unregisters a CUDA resource, unmaps the EGLImage, and destroys the NvBufSurface.
+     * @param eglImage The EGL image handle (no longer needed, but kept for legacy reference).
+     * @param pResource Pointer to the CUgraphicsResource handle.
+     * @param surf Pointer to the NvBufSurface.
+     * @param eglDisplay The EGL display handle.
+     */
+    static void freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, NvBufSurface *surf, EGLDisplay eglDisplay);
+};

base/include/JPEGDecoderL4TM.h

@@ -7,8 +7,9 @@ class JPEGDecoderL4TMProps : public ModuleProps
 public:
 	JPEGDecoderL4TMProps() : ModuleProps()
 	{
-
+		decodeToFd=false;
 	}
+	bool decodeToFd;
 };
 
 class JPEGDecoderL4TM : public Module

base/include/JPEGDecoderL4TMHelper.h

@@ -13,6 +13,7 @@ class JPEGDecoderL4TMHelper
 
      bool init(const unsigned char* in_buf, unsigned long in_buf_size, int& width, int& height);		
      int decode(const unsigned char* in_buf, unsigned long in_buf_size, unsigned char *out_buf);
+     int decodeToFd(int &fd, unsigned char * in_buf,unsigned long in_buf_size);
 
 private:
 

base/include/JPEGEncoderL4TMHelper.h

@@ -1,5 +1,12 @@
 #ifndef __NV_JPEG_ENCODER_H__
 #define __NV_JPEG_ENCODER_H__
+#ifndef TEGRA_ACCELERATE
+/**
+ * @c TEGRA_ACCELERATE must be defined to enable hardware acceleration of
+ * JPEG encoding.
+ */
+#define TEGRA_ACCELERATE
+#endif
 
 #include <stdint.h>
 #include <stdio.h>
@@ -13,6 +20,9 @@ class JPEGEncoderL4TMHelper
 
      bool init(uint32_t width, uint32_t height, uint32_t stride, J_COLOR_SPACE color_space, double scale);
      int encode(const unsigned char* in_buf, unsigned char **out_buf, unsigned long &out_buf_size);
+     int encodeFromFd(int fd, J_COLOR_SPACE color_space,
+        unsigned char **out_buf, unsigned long &out_buf_size,
+        int quality);
 
 private:
     struct jpeg_compress_struct cinfo;