avfilter: add bilateral_cuda filter

GSoC 2022

Signed-off-by: Mohamed Khaled <mohamed.elbassiony00@eng-st.cu.edu.eg>
Signed-off-by: Timo Rothenpieler <timo@rothenpieler.org>

Changelog

@@ -37,6 +37,7 @@ version 5.1:
 - PHM image format support
 - remap_opencl filter
 - added chromakey_cuda filter
+- added bilateral_cuda filter
 
 
 version 5.0:

compat/cuda/cuda_runtime.h

@@ -182,6 +182,7 @@ static inline __device__ float fabsf(float a) { return __builtin_fabsf(a); }
 static inline __device__ float fabs(float a) { return __builtin_fabsf(a); }
 static inline __device__ double fabs(double a) { return __builtin_fabs(a); }
 static inline __device__ float sqrtf(float a) { return __builtin_sqrtf(a); }
+static inline __device__ float powf(float a, float  y) { return __builtin_powf(a,y); }
 
 static inline __device__ float __saturatef(float a) { return __nvvm_saturate_f(a); }
 static inline __device__ float __sinf(float a) { return __nvvm_sin_approx_f(a); }

configure

@@ -3151,6 +3151,8 @@ v4l2_m2m_deps="linux_videodev2_h sem_timedwait"
 
 chromakey_cuda_filter_deps="ffnvcodec"
 chromakey_cuda_filter_deps_any="cuda_nvcc cuda_llvm"
+bilateral_cuda_filter_deps="ffnvcodec"
+bilateral_cuda_filter_deps_any="cuda_nvcc cuda_llvm"
 hwupload_cuda_filter_deps="ffnvcodec"
 scale_npp_filter_deps="ffnvcodec libnpp"
 scale2ref_npp_filter_deps="ffnvcodec libnpp"

doc/filters.texi

@@ -7980,6 +7980,45 @@ Set planes to filter. Default is first only.
 
 This filter supports the all above options as @ref{commands}.
 
+@section bilateral_cuda
+CUDA accelerated bilateral filter, an edge preserving filter.
+This filter is mathematically accurate thanks to the use of GPU acceleration.
+For best output quality, use one to one chroma subsampling, i.e. yuv444p format.
+
+The filter accepts the following options:
+@table @option
+@item sigmaS
+Set sigma of gaussian function to calculate spatial weight, also called sigma space.
+Allowed range is 0.1 to 512. Default is 0.1.
+
+@item sigmaR
+Set sigma of gaussian function to calculate color range weight, also called sigma color.
+Allowed range is 0.1 to 512. Default is 0.1.
+
+@item window_size
+Set window size of the bilateral function to determine the number of neighbours to loop on.
+If the number entered is even, one will be added automatically.
+Allowed range is 1 to 255. Default is 1.
+@end table
+@subsection Examples
+
+@itemize
+@item
+Apply the bilateral filter on a video.
+
+@example
+./ffmpeg -v verbose \
+-hwaccel cuda -hwaccel_output_format cuda -i input.mp4  \
+-init_hw_device cuda \
+-filter_complex \
+" \
+[0:v]scale_cuda=format=yuv444p[scaled_video];
+[scaled_video]bilateral_cuda=window_size=9:sigmaS=3.0:sigmaR=50.0" \
+-an -sn -c:v h264_nvenc -cq 20 out.mp4
+@end example
+
+@end itemize
+
 @section bitplanenoise
 
 Show and measure bit plane noise.

libavfilter/Makefile

@@ -194,6 +194,7 @@ OBJS-$(CONFIG_AVGBLUR_VULKAN_FILTER)         += vf_avgblur_vulkan.o vulkan.o vul
 OBJS-$(CONFIG_BBOX_FILTER)                   += bbox.o vf_bbox.o
 OBJS-$(CONFIG_BENCH_FILTER)                  += f_bench.o
 OBJS-$(CONFIG_BILATERAL_FILTER)              += vf_bilateral.o
+OBJS-$(CONFIG_BILATERAL_CUDA_FILTER)         += vf_bilateral_cuda.o vf_bilateral_cuda.ptx.o
 OBJS-$(CONFIG_BITPLANENOISE_FILTER)          += vf_bitplanenoise.o
 OBJS-$(CONFIG_BLACKDETECT_FILTER)            += vf_blackdetect.o
 OBJS-$(CONFIG_BLACKFRAME_FILTER)             += vf_blackframe.o

libavfilter/allfilters.c

@@ -180,6 +180,7 @@ extern const AVFilter ff_vf_avgblur_vulkan;
 extern const AVFilter ff_vf_bbox;
 extern const AVFilter ff_vf_bench;
 extern const AVFilter ff_vf_bilateral;
+extern const AVFilter ff_vf_bilateral_cuda;
 extern const AVFilter ff_vf_bitplanenoise;
 extern const AVFilter ff_vf_blackdetect;
 extern const AVFilter ff_vf_blackframe;

libavfilter/version.h

@@ -31,7 +31,7 @@
 
 #include "version_major.h"
 
-#define LIBAVFILTER_VERSION_MINOR  47
+#define LIBAVFILTER_VERSION_MINOR  48
 #define LIBAVFILTER_VERSION_MICRO 100
 
 

libavfilter/vf_bilateral_cuda.c

@@ -0,0 +1,479 @@
+/*
+ * Copyright (c) 2022 Mohamed Khaled <Mohamed_Khaled_Kamal@outlook.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#include <float.h>
+#include <stdio.h>
+#include <string.h>
+
+#include "libavutil/avstring.h"
+#include "libavutil/common.h"
+#include "libavutil/hwcontext.h"
+#include "libavutil/hwcontext_cuda_internal.h"
+#include "libavutil/cuda_check.h"
+#include "libavutil/internal.h"
+#include "libavutil/opt.h"
+#include "libavutil/pixdesc.h"
+
+#include "avfilter.h"
+#include "formats.h"
+#include "internal.h"
+#include "video.h"
+
+#include "cuda/load_helper.h"
+
+static const enum AVPixelFormat supported_formats[] = {
+    AV_PIX_FMT_YUV420P,
+    AV_PIX_FMT_NV12,
+    AV_PIX_FMT_YUV444P
+};
+
+#define DIV_UP(a, b) ( ((a) + (b) - 1) / (b) )
+#define BLOCKX 32
+#define BLOCKY 16
+
+#define CHECK_CU(x) FF_CUDA_CHECK_DL(ctx, s->hwctx->internal->cuda_dl, x)
+
+
+typedef struct CUDABilateralContext {
+    const AVClass *class;
+    AVCUDADeviceContext *hwctx;
+
+    enum AVPixelFormat in_fmt, out_fmt;
+    const AVPixFmtDescriptor *in_desc, *out_desc;
+    int in_planes, out_planes;
+    int in_plane_depths[4];
+    int in_plane_channels[4];
+
+    int   window_size;
+    float sigmaS;
+    float sigmaR;
+
+    AVBufferRef *frames_ctx;
+    AVFrame     *frame;
+    AVFrame *tmp_frame;
+
+    CUcontext   cu_ctx;
+    CUmodule    cu_module;
+    CUfunction  cu_func;
+    CUfunction  cu_func_uv;
+    CUstream    cu_stream;
+} CUDABilateralContext;
+
+static av_cold int cudabilateral_init(AVFilterContext *ctx)
+{
+    CUDABilateralContext *s = ctx->priv;
+
+    s->frame = av_frame_alloc();
+    if (!s->frame)
+        return AVERROR(ENOMEM);
+
+    s->tmp_frame = av_frame_alloc();
+    if (!s->tmp_frame)
+        return AVERROR(ENOMEM);
+
+    return 0;
+}
+
+static av_cold void cudabilateral_uninit(AVFilterContext *ctx)
+{
+    CUDABilateralContext *s = ctx->priv;
+
+    if (s->hwctx && s->cu_module) {
+        CudaFunctions *cu = s->hwctx->internal->cuda_dl;
+        CUcontext bilateral;
+
+        CHECK_CU(cu->cuCtxPushCurrent(s->hwctx->cuda_ctx));
+        CHECK_CU(cu->cuModuleUnload(s->cu_module));
+        s->cu_module = NULL;
+        CHECK_CU(cu->cuCtxPopCurrent(&bilateral));
+    }
+
+    av_frame_free(&s->frame);
+    av_buffer_unref(&s->frames_ctx);
+    av_frame_free(&s->tmp_frame);
+}
+
+static av_cold int init_hwframe_ctx(CUDABilateralContext *s, AVBufferRef *device_ctx, int width, int height)
+{
+    AVBufferRef *out_ref = NULL;
+    AVHWFramesContext *out_ctx;
+    int ret;
+
+    out_ref = av_hwframe_ctx_alloc(device_ctx);
+    if (!out_ref)
+        return AVERROR(ENOMEM);
+    out_ctx = (AVHWFramesContext*)out_ref->data;
+
+    out_ctx->format    = AV_PIX_FMT_CUDA;
+    out_ctx->sw_format = s->out_fmt;
+    out_ctx->width     = width;
+    out_ctx->height    = height;
+
+    ret = av_hwframe_ctx_init(out_ref);
+    if (ret < 0)
+        goto fail;
+
+    av_frame_unref(s->frame);
+    ret = av_hwframe_get_buffer(out_ref, s->frame, 0);
+    if (ret < 0)
+        goto fail;
+
+    av_buffer_unref(&s->frames_ctx);
+    s->frames_ctx = out_ref;
+
+    return 0;
+fail:
+    av_buffer_unref(&out_ref);
+    return ret;
+}
+
+static int format_is_supported(enum AVPixelFormat fmt)
+{
+    int i;
+
+    for (i = 0; i < FF_ARRAY_ELEMS(supported_formats); i++)
+        if (supported_formats[i] == fmt)
+            return 1;
+    return 0;
+}
+
+static av_cold void set_format_info(AVFilterContext *ctx, enum AVPixelFormat in_format, enum AVPixelFormat out_format)
+{
+    CUDABilateralContext *s = ctx->priv;
+    int i, p, d;
+
+    s->in_fmt = in_format;
+    s->out_fmt = out_format;
+
+    s->in_desc  = av_pix_fmt_desc_get(s->in_fmt);
+    s->out_desc = av_pix_fmt_desc_get(s->out_fmt);
+    s->in_planes  = av_pix_fmt_count_planes(s->in_fmt);
+    s->out_planes = av_pix_fmt_count_planes(s->out_fmt);
+
+    // find maximum step of each component of each plane
+    // For our subset of formats, this should accurately tell us how many channels CUDA needs
+    // i.e. 1 for Y plane, 2 for UV plane of NV12, 4 for single plane of RGB0 formats
+
+    for (i = 0; i < s->in_desc->nb_components; i++) {
+        d = (s->in_desc->comp[i].depth + 7) / 8;
+        p = s->in_desc->comp[i].plane;
+        s->in_plane_channels[p] = FFMAX(s->in_plane_channels[p], s->in_desc->comp[i].step / d);
+
+        s->in_plane_depths[p] = s->in_desc->comp[i].depth;
+    }
+}
+
+static av_cold int init_processing_chain(AVFilterContext *ctx, int width, int height)
+{
+    CUDABilateralContext *s = ctx->priv;
+    AVHWFramesContext *in_frames_ctx;
+    int ret;
+
+    /* check that we have a hw context */
+    if (!ctx->inputs[0]->hw_frames_ctx) {
+        av_log(ctx, AV_LOG_ERROR, "No hw context provided on input\n");
+        return AVERROR(EINVAL);
+    }
+    in_frames_ctx = (AVHWFramesContext*)ctx->inputs[0]->hw_frames_ctx->data;
+
+    if (!format_is_supported(in_frames_ctx->sw_format)) {
+        av_log(ctx, AV_LOG_ERROR, "Unsupported format: %s\n", av_get_pix_fmt_name(in_frames_ctx->sw_format));
+        return AVERROR(ENOSYS);
+    }
+
+    set_format_info(ctx, in_frames_ctx->sw_format, in_frames_ctx->sw_format);
+
+    ret = init_hwframe_ctx(s, in_frames_ctx->device_ref, width, height);
+    if (ret < 0)
+        return ret;
+
+    ctx->outputs[0]->hw_frames_ctx = av_buffer_ref(s->frames_ctx);
+    if (!ctx->outputs[0]->hw_frames_ctx)
+        return AVERROR(ENOMEM);
+
+    return 0;
+}
+
+static av_cold int cuda_bilateral_load_functions(AVFilterContext *ctx)
+{
+    CUDABilateralContext *s = ctx->priv;
+    CUcontext bilateral, cuda_ctx = s->hwctx->cuda_ctx;
+    CudaFunctions *cu = s->hwctx->internal->cuda_dl;
+    int ret;
+
+    extern const unsigned char ff_vf_bilateral_cuda_ptx_data[];
+    extern const unsigned int ff_vf_bilateral_cuda_ptx_len;
+
+    ret = CHECK_CU(cu->cuCtxPushCurrent(cuda_ctx));
+    if (ret < 0)
+        return ret;
+
+    ret = ff_cuda_load_module(ctx, s->hwctx, &s->cu_module,
+                              ff_vf_bilateral_cuda_ptx_data, ff_vf_bilateral_cuda_ptx_len);
+    if (ret < 0)
+        goto fail;
+
+    ret = CHECK_CU(cu->cuModuleGetFunction(&s->cu_func, s->cu_module, "Process_uchar"));
+    if (ret < 0) {
+        av_log(ctx, AV_LOG_FATAL, "Failed loading Process_uchar\n");
+        goto fail;
+    }
+
+    ret = CHECK_CU(cu->cuModuleGetFunction(&s->cu_func_uv, s->cu_module, "Process_uchar2"));
+    if (ret < 0) {
+        av_log(ctx, AV_LOG_FATAL, "Failed loading Process_uchar2\n");
+        goto fail;
+    }
+
+fail:
+    CHECK_CU(cu->cuCtxPopCurrent(&bilateral));
+
+    return ret;
+}
+
+static av_cold int cuda_bilateral_config_props(AVFilterLink *outlink)
+{
+    AVFilterContext *ctx = outlink->src;
+    AVFilterLink *inlink = outlink->src->inputs[0];
+    CUDABilateralContext *s  = ctx->priv;
+    AVHWFramesContext     *frames_ctx = (AVHWFramesContext*)inlink->hw_frames_ctx->data;
+    AVCUDADeviceContext *device_hwctx = frames_ctx->device_ctx->hwctx;
+    int ret;
+
+    s->hwctx = device_hwctx;
+    s->cu_stream = s->hwctx->stream;
+
+    ret = init_processing_chain(ctx, inlink->w, inlink->h);
+    if (ret < 0)
+        return ret;
+
+    outlink->sample_aspect_ratio = inlink->sample_aspect_ratio;
+
+    // the window_size makes more sense when it is odd, so add 1 if even
+    s->window_size= (s->window_size%2) ? s->window_size : s->window_size+1;
+
+    ret = cuda_bilateral_load_functions(ctx);
+    if (ret < 0)
+        return ret;
+
+    return 0;
+}
+
+static int call_cuda_kernel(AVFilterContext *ctx, CUfunction func,
+                            CUtexObject src_tex[3], AVFrame *out_frame,
+                            int width, int height, int pitch,
+                            int width_uv, int height_uv, int pitch_uv,
+                            int window_size, float sigmaS, float sigmaR)
+{
+    CUDABilateralContext *s = ctx->priv;
+    CudaFunctions *cu = s->hwctx->internal->cuda_dl;
+    int ret;
+
+    CUdeviceptr dst_devptr[3] = {
+        (CUdeviceptr)out_frame->data[0], (CUdeviceptr)out_frame->data[1], (CUdeviceptr)out_frame->data[2]
+    };
+
+    void *args_uchar[] = {
+        &src_tex[0], &src_tex[1], &src_tex[2],
+        &dst_devptr[0], &dst_devptr[1], &dst_devptr[2],
+        &width, &height, &pitch,
+        &width_uv, &height_uv, &pitch_uv,
+        &window_size, &sigmaS, &sigmaR
+    };
+
+    ret = CHECK_CU(cu->cuLaunchKernel(func,
+                                      DIV_UP(width, BLOCKX), DIV_UP(height, BLOCKY), 1,
+                                      BLOCKX, BLOCKY, 1, 0, s->cu_stream, args_uchar, NULL));
+    if (ret < 0)
+        return ret;
+
+    return ret;
+}
+
+static int cuda_bilateral_process_internal(AVFilterContext *ctx,
+                                      AVFrame *out, AVFrame *in)
+{
+    CUDABilateralContext *s = ctx->priv;
+    CudaFunctions *cu = s->hwctx->internal->cuda_dl;
+    CUcontext bilateral, cuda_ctx = s->hwctx->cuda_ctx;
+    int i, ret;
+
+    CUtexObject tex[3] = { 0, 0, 0 };
+
+    ret = CHECK_CU(cu->cuCtxPushCurrent(cuda_ctx));
+    if (ret < 0)
+        return ret;
+
+    for (i = 0; i < s->in_planes; i++) {
+        CUDA_TEXTURE_DESC tex_desc = {
+            .filterMode = CU_TR_FILTER_MODE_LINEAR,
+            .flags = 0, // CU_TRSF_READ_AS_INTEGER to get raw ints instead of normalized floats from tex2D
+        };
+
+        CUDA_RESOURCE_DESC res_desc = {
+            .resType = CU_RESOURCE_TYPE_PITCH2D,
+            .res.pitch2D.format = CU_AD_FORMAT_UNSIGNED_INT8,
+            .res.pitch2D.numChannels = s->in_plane_channels[i],
+            .res.pitch2D.pitchInBytes = in->linesize[i],
+            .res.pitch2D.devPtr = (CUdeviceptr)in->data[i],
+        };
+
+        if (i == 1 || i == 2) {
+            res_desc.res.pitch2D.width = AV_CEIL_RSHIFT(in->width, s->in_desc->log2_chroma_w);
+            res_desc.res.pitch2D.height = AV_CEIL_RSHIFT(in->height, s->in_desc->log2_chroma_h);
+        } else {
+            res_desc.res.pitch2D.width = in->width;
+            res_desc.res.pitch2D.height = in->height;
+        }
+
+        ret = CHECK_CU(cu->cuTexObjectCreate(&tex[i], &res_desc, &tex_desc, NULL));
+        if (ret < 0)
+            goto exit;
+    }
+
+    ret = call_cuda_kernel(ctx, (s->in_plane_channels[1] > 1) ? s->cu_func_uv : s->cu_func,
+                           tex, out,
+                           out->width, out->height, out->linesize[0],
+                           AV_CEIL_RSHIFT(out->width, s->out_desc->log2_chroma_w),
+                           AV_CEIL_RSHIFT(out->height, s->out_desc->log2_chroma_h),
+                           out->linesize[1] >> ((s->in_plane_channels[1] > 1) ? 1 : 0),
+                           s->window_size, s->sigmaS, s->sigmaR);
+    if (ret < 0)
+        goto exit;
+
+exit:
+    for (i = 0; i < s->in_planes; i++)
+        if (tex[i])
+            CHECK_CU(cu->cuTexObjectDestroy(tex[i]));
+
+    CHECK_CU(cu->cuCtxPopCurrent(&bilateral));
+
+    return ret;
+}
+
+static int cuda_bilateral_process(AVFilterContext *ctx, AVFrame *out, AVFrame *in)
+{
+    CUDABilateralContext *s = ctx->priv;
+    AVFrame *src = in;
+    int ret;
+
+    ret = cuda_bilateral_process_internal(ctx, s->frame, src);
+    if (ret < 0)
+        return ret;
+
+    src = s->frame;
+    ret = av_hwframe_get_buffer(src->hw_frames_ctx, s->tmp_frame, 0);
+    if (ret < 0)
+        return ret;
+
+    av_frame_move_ref(out, s->frame);
+    av_frame_move_ref(s->frame, s->tmp_frame);
+
+    ret = av_frame_copy_props(out, in);
+    if (ret < 0)
+        return ret;
+
+    return 0;
+}
+
+static int cuda_bilateral_filter_frame(AVFilterLink *link, AVFrame *in)
+{
+    AVFilterContext       *ctx = link->dst;
+    CUDABilateralContext        *s = ctx->priv;
+    AVFilterLink      *outlink = ctx->outputs[0];
+    CudaFunctions          *cu = s->hwctx->internal->cuda_dl;
+
+    AVFrame *out = NULL;
+    CUcontext bilateral;
+    int ret = 0;
+
+    out = av_frame_alloc();
+    if (!out) {
+        ret = AVERROR(ENOMEM);
+        goto fail;
+    }
+
+    ret = CHECK_CU(cu->cuCtxPushCurrent(s->hwctx->cuda_ctx));
+    if (ret < 0)
+        goto fail;
+
+    ret = cuda_bilateral_process(ctx, out, in);
+
+    CHECK_CU(cu->cuCtxPopCurrent(&bilateral));
+    if (ret < 0)
+        goto fail;
+
+    av_frame_free(&in);
+    return ff_filter_frame(outlink, out);
+fail:
+    av_frame_free(&in);
+    av_frame_free(&out);
+    return ret;
+}
+
+#define OFFSET(x) offsetof(CUDABilateralContext, x)
+#define FLAGS (AV_OPT_FLAG_FILTERING_PARAM|AV_OPT_FLAG_VIDEO_PARAM)
+static const AVOption options[] = {
+    { "sigmaS",      "set spatial sigma",          OFFSET(sigmaS), AV_OPT_TYPE_FLOAT,    {.dbl=0.1}, 0.1, 512, FLAGS },
+    { "sigmaR",      "set range sigma",            OFFSET(sigmaR), AV_OPT_TYPE_FLOAT,    {.dbl=0.1}, 0.1, 512, FLAGS },
+    { "window_size", "set neighbours window_size", OFFSET(window_size), AV_OPT_TYPE_INT, {.i64=1},   1,   255, FLAGS },
+    { NULL }
+};
+
+static const AVClass cuda_bilateral_class = {
+    .class_name = "cudabilateral",
+    .item_name  = av_default_item_name,
+    .option     = options,
+    .version    = LIBAVUTIL_VERSION_INT,
+};
+
+static const AVFilterPad cuda_bilateral_inputs[] = {
+    {
+        .name        = "default",
+        .type        = AVMEDIA_TYPE_VIDEO,
+        .filter_frame = cuda_bilateral_filter_frame,
+    },
+};
+
+static const AVFilterPad cuda_bilateral_outputs[] = {
+    {
+        .name         = "default",
+        .type         = AVMEDIA_TYPE_VIDEO,
+        .config_props = cuda_bilateral_config_props,
+    },
+};
+
+const AVFilter ff_vf_bilateral_cuda = {
+    .name        = "bilateral_cuda",
+    .description = NULL_IF_CONFIG_SMALL("GPU accelerated bilateral filter"),
+
+    .init          = cudabilateral_init,
+    .uninit        = cudabilateral_uninit,
+
+    .priv_size = sizeof(CUDABilateralContext),
+    .priv_class = &cuda_bilateral_class,
+
+    FILTER_INPUTS(cuda_bilateral_inputs),
+    FILTER_OUTPUTS(cuda_bilateral_outputs),
+
+    FILTER_SINGLE_PIXFMT(AV_PIX_FMT_CUDA),
+
+    .flags_internal = FF_FILTER_FLAG_HWFRAME_AWARE,
+};

libavfilter/vf_bilateral_cuda.cu

@@ -0,0 +1,191 @@
+/*
+ * Copyright (c) 2022 Mohamed Khaled <Mohamed_Khaled_Kamal@outlook.com>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+#include "cuda/vector_helpers.cuh"
+
+extern "C"
+{
+
+/**
+ * @brief               calculated squared norm difference between two 3-dimension vecors ||first_vector-second_vector||^2
+ *                      used float4 for better performance
+ *
+ * @param first_yuv     first color vector
+ * @param second_yuv    second color vecotr
+ * @return              answer of squared norm difference
+ */
+__device__ static inline float norm_squared(float4 first_yuv, float4 second_yuv)
+{
+    float ans = 0;
+    ans += powf(first_yuv.x - second_yuv.x, 2);
+    ans += powf(first_yuv.y - second_yuv.y, 2);
+    ans += powf(first_yuv.z - second_yuv.z, 2);
+    return ans;
+}
+
+/**
+ * @brief               calculate w as stated in bilateral filter research paper
+ *
+ * @param first_yuv     first color vector
+ * @param second_yuv    second color vecotr
+ * @return              the calculated w
+ */
+__device__ static inline float calculate_w(int x, int y, int r, int c,
+                                           float4 pixel_value, float4 neighbor_value,
+                                           float sigma_space, float sigma_color)
+{
+    float first_term, second_term;
+    first_term = (powf(x - r, 2) + powf(y - c, 2)) / (2 * sigma_space * sigma_space);
+    second_term = norm_squared(pixel_value, neighbor_value) / (2 * sigma_color * sigma_color);
+    return __expf(-first_term - second_term);
+}
+
+/**
+ * @brief apply the bilateral filter on the pixel sent
+ *
+ * @param src_tex_Y         Y channel of source image
+ * @param src_tex           U channel of source image if yuv, or UV channels if format is nv12
+ * @param src_tex_V         V channel of source image
+ * @param dst_Y             Y channel of destination image
+ * @param dst_U             U channel of destination image if format is in yuv
+ * @param dst_V             V channel of destination image if format is in yuv
+ * @param dst_UV            UV channels of destination image if format is in nv12
+ * @param width             width of Y channel
+ * @param height            height of Y channel
+ * @param width_uv          width of UV channels
+ * @param height_uv         height of UV channels
+ * @param pitch             pitch of Y channel
+ * @param pitch_uv          pitch of UV channels
+ * @param x                 x coordinate of pixel to be filtered
+ * @param y                 y coordinate of pixel to be filtered
+ * @param sigma_space       sigma space parameter
+ * @param sigma_color       sigma color parameter
+ * @param window_size       window size parameter
+ * @return void
+ */
+__device__ static inline void apply_biltaeral(
+    cudaTextureObject_t src_tex_Y, cudaTextureObject_t src_tex, cudaTextureObject_t src_tex_V,
+    uchar *dst_Y, uchar *dst_U, uchar *dst_V, uchar2 *dst_UV,
+    int width, int height, int width_uv, int height_uv, int pitch, int pitch_uv,
+    int x, int y,
+    float sigma_space, float sigma_color, int window_size)
+{
+    int start_r = x - window_size / 2;
+    int start_c = y - window_size / 2;
+    float4 neighbor_pixel = make_float4(0.f, 0.f, 0.f, 0.f);
+    float Wp = 0.f;
+    float4 new_pixel_value = make_float4(0.f, 0.f, 0.f, 0.f);
+    float w = 0.f;
+
+    int channel_ratio = width / width_uv; // ratio between Y channel and UV channels
+    float4 currrent_pixel;
+
+    if (!src_tex_V) { // format is in nv12
+        float2 temp_uv   = tex2D<float2>(src_tex, x/channel_ratio, y/channel_ratio) * 255.f;
+        currrent_pixel.x = tex2D<float>(src_tex_Y, x, y) * 255.f;
+        currrent_pixel.y = temp_uv.x;
+        currrent_pixel.z = temp_uv.y;
+        currrent_pixel.w = 0.f;
+    } else { // format is fully planar
+        currrent_pixel = make_float4(tex2D<float>(src_tex_Y, x, y) * 255.f,
+                                     tex2D<float>(src_tex,   x/channel_ratio, y/channel_ratio) * 255.f,
+                                     tex2D<float>(src_tex_V, x/channel_ratio, y/channel_ratio) * 255.f,
+                                     0.f);
+    }
+
+    for (int i=0; i < window_size; i++)
+    {
+        for (int j=0; j < window_size; j++)
+        {
+            int r=start_r+i;
+            int c=start_c+j;
+            bool in_bounds=r>=0 && r<width && c>=0 && c<height;
+            if (in_bounds)
+            {
+                if (!src_tex_V){
+                    float2 temp_uv = tex2D<float2>(src_tex, r/channel_ratio, c/channel_ratio);
+                    neighbor_pixel=make_float4(tex2D<float>(src_tex_Y, r, c) * 255.f,
+                                               temp_uv.x * 255.f,
+                                               temp_uv.y * 255.f, 0.f);
+                } else {
+                    neighbor_pixel=make_float4(tex2D<float>(src_tex_Y, r, c) * 255.f,
+                                               tex2D<float>(src_tex, r/channel_ratio, c/channel_ratio) * 255.f,
+                                               tex2D<float>(src_tex_V, r/channel_ratio, c/channel_ratio) * 255.f, 0.f);
+                }
+                w=calculate_w(x,y,r,c,currrent_pixel,neighbor_pixel,sigma_space,sigma_color);
+                Wp+=w;
+                new_pixel_value+= neighbor_pixel*w;
+            }
+        }
+    }
+
+    new_pixel_value    = new_pixel_value / Wp;
+    dst_Y[y*pitch + x] = new_pixel_value.x;
+
+    if (!src_tex_V) {
+        dst_UV[(y/channel_ratio) * pitch_uv + (x/channel_ratio)] = make_uchar2(new_pixel_value.y, new_pixel_value.z);
+    } else {
+        dst_U[(y/channel_ratio) * pitch_uv + (x/channel_ratio)]  = new_pixel_value.y;
+        dst_V[(y/channel_ratio) * pitch_uv + (x/channel_ratio)]  = new_pixel_value.z;
+    }
+
+    return;
+}
+
+
+__global__ void Process_uchar(cudaTextureObject_t src_tex_Y, cudaTextureObject_t src_tex_U, cudaTextureObject_t src_tex_V,
+                              uchar *dst_Y, uchar *dst_U, uchar *dst_V,
+                              int width, int height, int pitch,
+                              int width_uv, int height_uv, int pitch_uv,
+                              int window_size, float sigmaS, float sigmaR)
+{
+
+    int x = blockIdx.x * blockDim.x + threadIdx.x;
+    int y = blockIdx.y * blockDim.y + threadIdx.y;
+    if (y >= height || x >= width)
+        return;
+
+    apply_biltaeral(src_tex_Y, src_tex_U, src_tex_V,
+                    dst_Y, dst_U, dst_V, (uchar2*)nullptr,
+                    width, height, width_uv, height_uv, pitch, pitch_uv,
+                    x, y,
+                    sigmaS, sigmaR, window_size);
+}
+
+
+__global__ void Process_uchar2(cudaTextureObject_t src_tex_Y, cudaTextureObject_t src_tex_UV, cudaTextureObject_t unused1,
+                               uchar *dst_Y, uchar2 *dst_UV, uchar *unused2,
+                               int width, int height, int pitch,
+                               int width_uv, int height_uv, int pitch_uv,
+                               int window_size, float sigmaS, float sigmaR)
+{
+    int x = blockIdx.x * blockDim.x + threadIdx.x;
+    int y = blockIdx.y * blockDim.y + threadIdx.y;
+    if (y >= height || x >= width)
+        return;
+
+    apply_biltaeral(src_tex_Y, src_tex_UV, (cudaTextureObject_t)nullptr,
+                    dst_Y, (uchar*)nullptr, (uchar*)nullptr, dst_UV,
+                    width, height, width_uv, height_uv, pitch, pitch_uv,
+                    x, y,
+                    sigmaS, sigmaR, window_size);
+}
+
+}