add wust typr mpc and mutipule x

wust_vision-main/cuda_infer/letter_box.hpp

@@ -0,0 +1,42 @@
+#pragma once
+#include <Eigen/Dense>
+#include <NvInferRuntime.h>
+#include <cmath>
+#include <cstdio>
+#include <cuda_fp16.h>
+#include <cuda_runtime.h>
+#include <iostream>
+#include <opencv2/core/hal/interface.h>
+#include <opencv2/core/mat.hpp>
+#include <thrust/device_ptr.h>
+#include <thrust/sort.h>
+#include <vector>
+static constexpr int TILE_W = 32;
+static constexpr int TILE_H = 32;
+__global__ void letterbox_kernel_shared(
+    const uchar* __restrict__ input_bgr,
+    int in_w,
+    int in_h,
+    float* __restrict__ output_nchw,
+    int out_w,
+    int out_h,
+    float scale,
+    int pad_t,
+    int pad_l,
+    float norm,
+    bool swap_rb
+);
+__global__ void letterbox_kernel_pitched(
+    const unsigned char* __restrict__ d_input_bgr,
+    size_t pitch,
+    int src_w,
+    int src_h,
+    float* __restrict__ d_nchw,
+    int OUT_W,
+    int OUT_H,
+    float scale,
+    int pad_t,
+    int pad_l,
+    float norm,
+    bool swap_rb
+);