Feature/add cuda v24.05

cuda/README.md

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+# CUDA tutorial
+
+## Setup
+
+The Sensing-Dev SDK install script introduced in [Sensing-Dev](https://sensing-dev.github.io/doc/) has ion-kit but target-CUDA feature is not available.
+
+**After installing either Sensing-Dev v24.05 or v25.01**, please run the `cuda-ion-setup.sh` which build and install ion-kit with the option of CUDA.
+
+```bash
+sudo bash cuda-ion-setup.sh
+```
+If you are using Sensing-Dev v24.05, please add the option of `--version v1.8.10`.
+
+Note that this install script is designed for Linux x86_64. 
+
+After setting up, you can remove the directory called `cuda-setup`.

cuda/cuda-ion-setup.sh

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+#!/bin/bash
+set -e
+
+: '
+SYNOPSIS
+    build_install_lib.sh [OPTIONS]
+
+DESCRIPTION
+    This script installs VCPKG, fetches a library from GitHub, builds it, and installs it.
+
+OPTIONS
+    --vcpkg-dir DIR      Set the installation directory for VCPKG (default: $HOME/vcpkg)
+    --lib-dir DIR        Set the directory for library installation (default: $HOME/libs)
+    --tag TAG            Specify the branch or tag to checkout (default: latest release)
+    --install-path DIR   Set the installation directory for Sensing-Dev (ion-kit)
+'
+# DEFAULT ######################################################################
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+WORKING_DIR="$SCRIPT_DIR/cuda-setup"
+VCPKG_DIR="$WORKING_DIR/vcpkg"
+GITHUB_REPO="fixstars/ion-kit"
+BRANCH_OR_TAG="latest"
+SDK_DIR="/opt/sensing-dev"
+
+
+# VCPKG ########################################################################
+while [[ "$#" -gt 0 ]]; do
+    case "$1" in
+        --vcpkg-dir)
+            VCPKG_DIR="$2"
+            shift 2
+            ;;
+        --lib-dir)
+            LIBRARY_DIR="$2"
+            shift 2
+            ;;
+        --version)
+            BRANCH_OR_TAG="$2"
+            shift 2
+            ;;
+        --install-path)
+            SDK_DIR="$2"
+            shift 2
+            ;;
+        *)
+            echo "Unknown option: $1"
+            exit 1
+            ;;
+    esac
+done
+
+if [[ "$BRANCH_OR_TAG" =~ ^v[0-9]+\.[0-9]+\.[0-9]+$ ]] || [[ "$BRANCH_OR_TAG" == "latest" ]]; then
+    echo "Valid --version: $BRANCH_OR_TAG"
+else
+    echo "Error: --version must be in the format 'vX.Y.Z' (e.g., v1.8.10)"
+    exit 1
+fi
+
+# Get git ######################################################################
+sudo apt install git-all -y
+
+# Set working directory ########################################################
+mkdir -p "$WORKING_DIR"
+
+# VCPKG ########################################################################
+if [ ! -d "$VCPKG_DIR" ]; then
+    echo "Cloning VCPKG..."
+    git clone https://github.com/microsoft/vcpkg.git "$VCPKG_DIR"
+    cd "$VCPKG_DIR" || exit
+    ./bootstrap-vcpkg.sh
+else
+    echo "VCPKG already installed in $VCPKG_DIR"
+fi
+export PATH=$VCPKG_DIR:$PATH
+
+# Get Halide ###################################################################
+cd "$WORKING_DIR"
+echo $BRANCH_OR_TAG
+if [[ "$BRANCH_OR_TAG" =~ ^v1\.8\.[0-9]+$ ]]; then
+    # v1.8.xx の場合
+    curl -L https://github.com/halide/Halide/releases/download/v16.0.0/Halide-16.0.0-x86-64-linux-1e963ff817ef0968cc25d811a25a7350c8953ee6.tar.gz --output halide.tar.gz
+    tar -xvzf halide.tar.gz
+    cd Halide-16.0.0-x86-64-linux
+    export HALIDE_PATH="$WORKING_DIR/Halide-16.0.0-x86-64-linux"
+else
+    # それ以外の場合（デフォルト）
+    curl -L https://github.com/halide/Halide/releases/download/v17.0.1/Halide-17.0.1-x86-64-linux-52541176253e74467dabc42eeee63d9a62c199f6.tar.gz --output halide.tar.gz
+    tar -xvzf halide.tar.gz
+    cd Halide-17.0.1-x86-64-linux
+    export HALIDE_PATH="$WORKING_DIR/Halide-17.0.1-x86-64-linux"
+fi
+
+# Get ion-kit ##################################################################
+cd "$WORKING_DIR" || exit
+echo "Fetching library from GitHub..."
+if [ "$BRANCH_OR_TAG" = "latest" ]; then
+    LATEST_TAG=$(curl -s "https://api.github.com/repos/$GITHUB_REPO/releases/latest" | grep 'tag_name' | cut -d '"' -f 4)
+    BRANCH_OR_TAG="$LATEST_TAG"
+fi
+echo "ion-kit $BRANCH_OR_TAG will be installed..."
+if [ -d "$WORKING_DIR/ion-kit" ]; then
+    rm -r "$WORKING_DIR/ion-kit"
+fi
+
+git clone --branch "$BRANCH_OR_TAG" --depth 1 "https://github.com/$GITHUB_REPO.git"
+
+
+# Build and Install ############################################################
+cd "$WORKING_DIR/ion-kit"
+# Set minimum CMake 3.22
+CMAKE_FILE="$WORKING_DIR/ion-kit/CMakeLists.txt"
+if [ -f "$CMAKE_FILE" ]; then
+    sed -i 's/cmake_minimum_required(VERSION 3\.25)/cmake_minimum_required(VERSION 3.22)/' "$CMAKE_FILE"
+    echo "Updated cmake_minimum_required version in CMakeLists.txt"
+fi
+# Set up dependencies
+vcpkg install
+# Build
+mkdir -p build && cd build
+cmake -D CMAKE_TOOLCHAIN_FILE=${VCPKG_DIR}/scripts/buildsystems/vcpkg.cmake \
+-D Halide_DIR=${HALIDE_PATH}/lib/cmake/Halide \
+-D HalideHelpers_DIR=${HALIDE_PATH}/lib/cmake/HalideHelpers \
+-DCMAKE_BUILD_TYPE=Release -D ION_BUILD_TEST=OFF -D BUILD_DOC=OFF -D ION_BUILD_EXAMPLE=OFF \
+-D CMAKE_INSTALL_PREFIX=${SDK_DIR} ..
+# Install
+cmake --build . --target install
+
+echo "Library installation completed."
+
+VERSION_INFO_FILE="$SDK_DIR/version_info.json"
+if [ -f "$VERSION_INFO_FILE" ]; then
+    sed -i "s/\"ion-kit\": \"v[0-9]*\\.[0-9]*\\.[0-9]*\"/\"ion-kit\": \"$BRANCH_OR_TAG(CUDA)\"/" "$VERSION_INFO_FILE"
+    sed -i "s/\"ion-kit\": \"[0-9]*\\.[0-9]*\\.[0-9]*\"/\"ion-kit\": \"$BRANCH_OR_TAG(CUDA)\"/" "$VERSION_INFO_FILE"
+    echo "Updated $SDK_DIR/version_info.json"
+fi

cuda/src/load_and_process.cpp

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+/*
+
+g++ src/load_and_process.cpp -o load_and_process  \
+-I /opt/sensing-dev/include -I /opt/sensing-dev/include/aravis-0.8 \
+-I /opt/sensing-dev/include/opencv4 \
+-L /opt/sensing-dev/lib \
+-L /opt/sensing-dev/lib/x86_64-linux-gnu \
+-lHalide -lion-core -ldl -lpthread -lopencv_core \
+-lopencv_imgcodecs -lopencv_highgui -lopencv_imgproc \
+-laravis-0.8 -lgobject-2.0 \
+`pkg-config --cflags --libs glib-2.0`
+
+*/
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+
+#include <ion/ion.h>
+
+#include <exception>
+#include <string>
+#include <map>
+#include <iostream>
+#include <chrono>
+
+using namespace ion;
+std::map<std::string, int32_t> bit_width_map{
+  {"BayerBG8", 8}, {"BayerBG10", 16}, {"BayerBG12", 16}};
+std::map<std::string, int32_t> num_bit_shift_map{
+  {"BayerBG8", 0}, {"BayerBG10", 6}, {"BayerBG12", 4}};
+std::map<std::string, std::string> bb_name{
+  {"BayerBG8", "image_io_binaryloader_u8x2"},
+  {"BayerBG10", "image_io_binaryloader_u16x2"},
+  {"BayerBG12", "image_io_binaryloader_u16x2"}};
+
+
+void pipeline_acquisition_and_process(bool use_cuda, bool display_image, std::string output_directory, std::string prefix, int width, int height, std::string pixelformat, int num_frames){
+    std::vector< int > buf_size = std::vector < int >{3, width, height};
+
+    std::vector<Halide::Buffer<uint8_t>> outputs;
+    outputs.push_back(Halide::Buffer<uint8_t>(buf_size));
+
+    Buffer<bool> finished(1);
+
+    Builder b;
+    if (use_cuda){
+      b.set_target(get_host_target().with_feature(Target::CUDA).with_feature(Target::Profile));
+    }else{
+      b.set_target(get_host_target().with_feature(Target::Profile));
+    }
+    b.with_bb_module("ion-bb");
+
+    // add binary loader BB to pipeline
+    Node n = b.add(bb_name[pixelformat])(&width, &height)
+      .set_param(
+              Param("output_directory", output_directory),
+              Param("prefix", prefix)
+      );
+    n["finished"].bind(finished);
+
+    if (bit_width_map[pixelformat] == 8){
+      n = b.add("base_cast_2d_uint8_to_uint16")(n["output"]);
+    }
+
+    n = b.add("image_processing_normalize_raw_image")(n["output"])
+      .set_param(
+        Param("bit_width", bit_width_map[pixelformat]),
+        Param("bit_shift", num_bit_shift_map[pixelformat])
+      );
+
+    n  = b.add("image_processing_bayer_demosaic_linear")(n["output"])
+        .set_param(
+          Param("bayer_pattern", "BGGR"),
+          Param("width", width),
+          Param("height", height)
+          );  //  output(x, y, c)
+
+    n  = b.add("base_denormalize_3d_uint8") (n["output"]);
+    n  = b.add("base_reorder_buffer_3d_uint8")(n["output"])
+        .set_param(
+          Param("dim0", "2"),
+          Param("dim1", "0"),
+          Param("dim2", "1")
+          ); //  output(c, x, y)
+    n["output"].bind(outputs[0]);
+
+    int count_run = 1;
+    while (true) {
+      b.run();
+      bool is_finished = finished(0);
+
+      cv::Mat img(height, width, CV_8UC3);
+      std::memcpy(img.ptr(), outputs[0].data(), outputs[0].size_in_bytes());
+      if (display_image){
+        cv::imshow("image" + std::to_string(0), img);
+        cv::waitKey(1);
+      }
+
+      if (count_run == num_frames || is_finished) {
+        break;
+      }
+      count_run += 1;
+    }
+    std::cout << "Total number of frames to process: " << count_run << std::endl;
+}
+
+int main(int argc, char *argv[])
+{
+  try{
+    // if prefix is imageX if the name of the config is imageX-config.json
+    std::string prefix = "image0-";
+    // check imageX-config.json
+    const int32_t width = 1920;
+    const int32_t height = 1080;
+    std::string pixelformat = "BayerBG8";
+
+    bool use_cuda = false;
+    bool display_image = false;
+    std::string output_directory = ".";
+    int num_frames = 0;
+
+    if (argc > 1){
+      for (int i = 1; i < argc; i++){
+          if (strcmp(argv[i], "-c") == 0 || strcmp(argv[i], "--target-cuda") == 0){
+            use_cuda = true;
+          }else if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--display") == 0){
+            display_image = true;
+          }else if (strcmp(argv[i], "-i") == 0 || strcmp(argv[i], "--input") == 0){
+            output_directory = argv[++i];
+          }else if (strcmp(argv[i], "-p") == 0 || strcmp(argv[i], "--prefix") == 0){
+            prefix = argv[++i];
+          }else if (strcmp(argv[i], "-n") == 0 || strcmp(argv[i], "--num-frames") == 0){
+            num_frames = strtol(argv[++i], NULL, 10);
+          }else{
+            std::cerr << "wrong format of command option." << std::endl;
+          }
+      }
+    }
+
+  pipeline_acquisition_and_process(use_cuda, display_image, output_directory, prefix, width, height, pixelformat, num_frames);
+
+  } catch(std::exception& e){
+    std::cerr << e.what() << std::endl;
+    return 1;
+  } catch (const ion::Error& e) {
+    std::cerr << e.what() << std::endl;
+    return 1;
+  }
+  return 0;
+}