[CVCUDA] Update CV-CUDA to v0.2.1, add vision processor C++ tutorial (#1678)

* update cvcuda 0.2.0 -> 0.2.1

* add cpp tutorials demo

* fix reviewed problem

tutorials/vision_processor/cpp/main.cc

@@ -0,0 +1,78 @@
+#include "fastdeploy/vision.h"
+#include "fastdeploy/vision/common/processors/manager.h"
+#include "fastdeploy/vision/common/processors/transform.h"
+
+namespace fd = fastdeploy;
+
+// Define our custom processor
+class CustomPreprocessor : public fd::vision::ProcessorManager {
+ public:
+  explicit CustomPreprocessor(){};
+  ~CustomPreprocessor(){};
+
+  virtual bool Apply(fd::vision::FDMatBatch* image_batch,
+                     std::vector<fd::FDTensor>* outputs);
+
+ private:
+  // Create op
+  int width = 160;
+  int height = 160;
+  std::shared_ptr<fd::vision::Resize> resize_op =
+      std::make_shared<fd::vision::Resize>(width, height, -1.0, -1.0, 1, false);
+  std::shared_ptr<fd::vision::CenterCrop> crop =
+      std::make_shared<fd::vision::CenterCrop>(50, 50);
+  std::vector<float> mean = {0.485f, 0.456f, 0.406f};
+  std::vector<float> std = {0.229f, 0.224f, 0.225f};
+  std::shared_ptr<fd::vision::Normalize> normalize =
+      std::make_shared<fd::vision::Normalize>(mean, std);
+};
+
+// Implement our custom processor's Apply() method
+bool CustomPreprocessor::Apply(fd::vision::FDMatBatch* image_batch,
+                               std::vector<fd::FDTensor>* outputs) {
+  // Use op to transform the images
+  bool resize_ret = (*resize_op)(&(image_batch->mats->at(0)));
+  bool crop_ret = (*crop)(image_batch);
+  bool normalize_ret = (*normalize)(image_batch);
+
+  outputs->resize(1);
+  fd::FDTensor* tensor = image_batch->Tensor();
+  (*outputs)[0].SetExternalData(tensor->Shape(), tensor->Dtype(),
+                                tensor->Data(), tensor->device,
+                                tensor->device_id);
+  return true;
+}
+
+int main(int argc, char* argv[]) {
+  if (argc < 2) {
+    std::cout << "Usage: ./preprocessor_demo path/to/image run_option, "
+                 "e.g ././preprocessor_demo ./test.jpeg 0"
+              << std::endl;
+    std::cout << "Run_option 0: OpenCV; 1: CV-CUDA " << std::endl;
+    return -1;
+  }
+
+  // Prepare input images
+  auto im = cv::imread(argv[1]);
+  std::vector<cv::Mat> images = {im, im};
+  std::vector<fd::vision::FDMat> mats = fd::vision::WrapMat(images);
+  std::vector<fd::FDTensor> outputs;
+
+  // CustomPreprocessor processor;
+  CustomPreprocessor processor = CustomPreprocessor();
+
+  // Use CV-CUDA if parameter passed and detected
+  if (std::atoi(argv[2]) == 1) {
+    processor.UseCuda(true, 0);
+  }
+
+  // Run the processor
+  bool ret = processor.Run(&mats, &outputs);
+
+  // Print output
+  for (int i = 0; i < outputs.size(); i++) {
+    outputs[i].PrintInfo("out");
+  }
+
+  return 0;
+}