Updating prebuilts and/or headers

44b0e909f18f7e2f457ba501fc47d80ecedd150b - nvbufsurface.h 9a172f748a2b8f4d6d15648ea353989ccc7aeba6 - gst-plugins-nv-video-sinks/Makefile 9825d8a113dbf7dd16f791ff1ca66f2de3047b22 - gst-plugins-nv-video-sinks/LICENSE.libgstnvvideosinks 7ef56486c9e6b3e354473a2959d274517dd709da - gst-plugins-nv-video-sinks/gstnvvideosinks.c 15221adcd6193b5e2c1b38cba595d48e2da6a43f - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.c 9b7125a2d7ebe2ea647c43d2eb43e8d04cd16c47 - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.h 835dc89a20f2a95bea9c4033e40bf6787148ab08 - gst-plugins-nv-video-sinks/common/window.c a52c6765b04d69f754e5aeaa8c17f83747124150 - gst-plugins-nv-video-sinks/common/display.c 96b0b4d38692a0aecf70944749684ac938ff192f - gst-plugins-nv-video-sinks/common/display.h 718a740b0d05eeaf159bc13b6734485fd065da8e - gst-plugins-nv-video-sinks/common/renderer.c 6e77d54ffc5d1a49d5bad768cdf5cfadf458f1f7 - gst-plugins-nv-video-sinks/common/window.h 9509626b9f2d25a07ceb91b524c604089812cebb - gst-plugins-nv-video-sinks/common/context.c 9d31e8f421736ac5bd8e166db190965bf3a5e472 - gst-plugins-nv-video-sinks/common/renderer.h d48e1dae85e3c6a0ba7623be7ee306b8e1ef6695 - gst-plugins-nv-video-sinks/common/gstnvvideofwd.h bcce8e13c6a9efb1ee2d2a8ec24e8f7acc7c6581 - gst-plugins-nv-video-sinks/common/context.h e4ede06b1b565fdbf0eb0e49c4cdc0e0b063087d - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.c f528404a796de5a23dab281588feb72f42343e59 - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.h 1e324349b3704719f411b2da8f201ffb30e89c88 - gst-plugins-nv-video-sinks/common/egl/context_egl.c 536a072a8ef84b3c91307777f88121fb88df2c4f - gst-plugins-nv-video-sinks/common/egl/context_egl.h b3f1b67cae0b4643f6a676b362ceaa61abc9c40f - gst-plugins-nv-video-sinks/common/x11/display_x11.c d692399c6d94dbc7814770b08baf9271ed97f8e0 - gst-plugins-nv-video-sinks/common/x11/display_x11.h c98945083e215dff26507c1e10b0ebf62a2c6fb7 - gst-plugins-nv-video-sinks/common/x11/window_x11.c 638b0da4ea65d02818289e89bc1d635ddbcdaec5 - gst-plugins-nv-video-sinks/common/x11/window_x11.h Change-Id: I0514812ec862df5fdfaa82b62fe5bac5b016158b
2025-12-22 09:22:49 +03:00 · 2025-09-19 10:10:48 -07:00
12 changed files with 440 additions and 68 deletions
--- a/commitFile.txt
+++ b/commitFile.txt
@@ -1,25 +1,25 @@
 Updating prebuilts and/or headers 

-ed8273ff6102bb0b4fa7975a401b12b3e95a7187 - nvbufsurface.h
+44b0e909f18f7e2f457ba501fc47d80ecedd150b - nvbufsurface.h
 9a172f748a2b8f4d6d15648ea353989ccc7aeba6 - gst-plugins-nv-video-sinks/Makefile
 9825d8a113dbf7dd16f791ff1ca66f2de3047b22 - gst-plugins-nv-video-sinks/LICENSE.libgstnvvideosinks
 7ef56486c9e6b3e354473a2959d274517dd709da - gst-plugins-nv-video-sinks/gstnvvideosinks.c
-4f86ed5c7d6dfa6e6e4df4fd2945993655fc3409 - gst-plugins-nv-video-sinks/common/context.c
-a0debde9b0fd5bc6ac9c5fac7f1a14745a2b0617 - gst-plugins-nv-video-sinks/common/display.c
-fcb1b73054a1c8ff8ce614878ee46880273656f4 - gst-plugins-nv-video-sinks/common/renderer.c
+15221adcd6193b5e2c1b38cba595d48e2da6a43f - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.c
+9b7125a2d7ebe2ea647c43d2eb43e8d04cd16c47 - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.h
+835dc89a20f2a95bea9c4033e40bf6787148ab08 - gst-plugins-nv-video-sinks/common/window.c
+a52c6765b04d69f754e5aeaa8c17f83747124150 - gst-plugins-nv-video-sinks/common/display.c
 96b0b4d38692a0aecf70944749684ac938ff192f - gst-plugins-nv-video-sinks/common/display.h
+718a740b0d05eeaf159bc13b6734485fd065da8e - gst-plugins-nv-video-sinks/common/renderer.c
 6e77d54ffc5d1a49d5bad768cdf5cfadf458f1f7 - gst-plugins-nv-video-sinks/common/window.h
+9509626b9f2d25a07ceb91b524c604089812cebb - gst-plugins-nv-video-sinks/common/context.c
+9d31e8f421736ac5bd8e166db190965bf3a5e472 - gst-plugins-nv-video-sinks/common/renderer.h
 d48e1dae85e3c6a0ba7623be7ee306b8e1ef6695 - gst-plugins-nv-video-sinks/common/gstnvvideofwd.h
-ad360a668f0f494ebd2bb630c3faaf93078c6e0d - gst-plugins-nv-video-sinks/common/window.c
-72f9a4b823c4162c9f22cedb7c1cb1764d06fcb6 - gst-plugins-nv-video-sinks/common/renderer.h
-5e13200e9cba5f45d74cf6899dd3356d5f5d1c8e - gst-plugins-nv-video-sinks/common/context.h
-638b0da4ea65d02818289e89bc1d635ddbcdaec5 - gst-plugins-nv-video-sinks/common/x11/window_x11.h
+bcce8e13c6a9efb1ee2d2a8ec24e8f7acc7c6581 - gst-plugins-nv-video-sinks/common/context.h
+e4ede06b1b565fdbf0eb0e49c4cdc0e0b063087d - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.c
+f528404a796de5a23dab281588feb72f42343e59 - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.h
+1e324349b3704719f411b2da8f201ffb30e89c88 - gst-plugins-nv-video-sinks/common/egl/context_egl.c
+536a072a8ef84b3c91307777f88121fb88df2c4f - gst-plugins-nv-video-sinks/common/egl/context_egl.h
 b3f1b67cae0b4643f6a676b362ceaa61abc9c40f - gst-plugins-nv-video-sinks/common/x11/display_x11.c
 d692399c6d94dbc7814770b08baf9271ed97f8e0 - gst-plugins-nv-video-sinks/common/x11/display_x11.h
 c98945083e215dff26507c1e10b0ebf62a2c6fb7 - gst-plugins-nv-video-sinks/common/x11/window_x11.c
-536a072a8ef84b3c91307777f88121fb88df2c4f - gst-plugins-nv-video-sinks/common/egl/context_egl.h
-35b1e9d33b1f8bb8fc7065ab57696696128e042d - gst-plugins-nv-video-sinks/common/egl/context_egl.c
-707a36267f329bb22afdd19b947be5a99478ec7a - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.c
-f528404a796de5a23dab281588feb72f42343e59 - gst-plugins-nv-video-sinks/common/renderer/renderer_gl.h
-9b7125a2d7ebe2ea647c43d2eb43e8d04cd16c47 - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.h
-a02ed68d624ec0fc13349cbf5c4e675dfdfec1b9 - gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.c
+638b0da4ea65d02818289e89bc1d635ddbcdaec5 - gst-plugins-nv-video-sinks/common/x11/window_x11.h
--- a/gst-plugins-nv-video-sinks/common/context.c
+++ b/gst-plugins-nv-video-sinks/common/context.c
@@ -1,5 +1,6 @@
 /*
- * Copyright (c) 2018-2021, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) <2018-2025> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LGPL-2.1-only
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -90,13 +91,34 @@ gst_nv_video_context_render_thread_func (GstNvVideoContext * context)

    ret = GST_FLOW_ERROR;

-    if (GST_IS_BUFFER (object)) {
-      buf = GST_BUFFER_CAST (item->object);
+    if (GST_IS_CAPS (object)) {
+      GstCaps *caps = GST_CAPS_CAST (object);

-      if (context_class->show_frame (context, buf)) {
+      /* Check if caps have changed */
+      if (context->configured_caps) {
+        if (!gst_caps_is_equal (caps, context->configured_caps)) {
+          /* Reset CUDA initialization for re-initialization with new caps */
+          if (context->is_cuda_init) {
+            GstNvVideoContextClass *ctx_class = GST_NV_VIDEO_CONTEXT_GET_CLASS (context);
+            if (ctx_class->cuda_reset_resources) {
+              ctx_class->cuda_reset_resources (context);
+            }
+          }
+        }
+      }
+
+      /* NOW update configured caps and info (AFTER comparison) */
+      gst_caps_replace (&context->configured_caps, caps);
+
+      if (!gst_video_info_from_caps (&context->configured_info, caps)) {
+        GST_ERROR_OBJECT (context, "Invalid caps %" GST_PTR_FORMAT, caps);
+        ret = GST_FLOW_ERROR;
+      } else {
        ret = GST_FLOW_OK;
      }
+
    } else if (!object) {
+      /* EOS signal */
      GST_TRACE_OBJECT (context, "render thread: handle EOS");

      context_class->handle_eos (context);
@@ -107,6 +129,14 @@ gst_nv_video_context_render_thread_func (GstNvVideoContext * context)
      g_mutex_unlock (&context->priv->render_lock);

      GST_TRACE_OBJECT (context, "render thread: handled EOS");
+      ret = GST_FLOW_OK;
+    } else if (GST_IS_BUFFER (object)) {
+      buf = GST_BUFFER_CAST (item->object);
+
+      if (context_class->show_frame (context, buf)) {
+        ret = GST_FLOW_OK;
+      } else {
+      }
    } else {
      g_assert_not_reached ();
    }
@@ -214,6 +244,11 @@ gst_nv_video_context_finalize (GObject * object)
    context->display = NULL;
  }

+  if (context->configured_caps) {
+    gst_caps_unref (context->configured_caps);
+    context->configured_caps = NULL;
+  }
+
  g_mutex_clear (&context->priv->render_lock);
  g_cond_clear (&context->priv->create_cond);
  g_cond_clear (&context->priv->quit_cond);
@@ -241,12 +276,20 @@ gst_nv_video_context_init (GstNvVideoContext * context)
  context->priv->eos_handled = FALSE;

  context->using_NVMM = 0;
+#if defined(NVOS_IS_L4T)
+// Use this to avoid extra copy for cuda buffer.
+  context->cuda_optimized = 1;
+#else
+  context->cuda_optimized = 0;
+#endif
  context->cuContext = NULL;
  context->cuResource[0] = NULL;
  context->cuResource[1] = NULL;
  context->cuResource[2] = NULL;
  context->gpu_id = 0;

+  context->configured_caps = NULL;
+
  GST_DEBUG_OBJECT (context, "init done");
 }

@@ -260,7 +303,7 @@ GstNvVideoContext *
 gst_nv_video_context_new (GstNvVideoDisplay * display)
 {
  GstNvVideoContext *context = NULL;
-  static volatile gsize debug_init = 0;
+  static gsize debug_init = 0;
  const gchar *context_name = NULL;

  if (g_once_init_enter (&debug_init)) {
@@ -468,3 +511,34 @@ gst_nv_video_context_create (GstNvVideoContext * context)

  return context_class->create (context);
 }
+
+void
+gst_nv_video_context_set_configured_caps (GstNvVideoContext * context, GstCaps * caps)
+{
+  g_return_if_fail (GST_IS_NV_VIDEO_CONTEXT (context));
+
+  /* Send caps to render thread for comparison and processing */
+  g_mutex_lock (&context->priv->render_lock);
+  if (context->priv->render_thread_active && context->priv->queue) {
+    GstDataQueueItem *item = g_slice_new (GstDataQueueItem);
+    item->destroy = (GDestroyNotify) gst_nv_video_context_queue_free_item;
+    item->object = gst_mini_object_ref (GST_MINI_OBJECT_CAST (caps));
+    item->size = 0;
+    item->duration = GST_CLOCK_TIME_NONE;
+    item->visible = TRUE;
+
+    if (!gst_data_queue_push (context->priv->queue, item)) {
+      item->destroy (item);
+    }
+  } else {
+    /* If no render thread, update directly */
+    gst_caps_replace (&context->configured_caps, caps);
+
+    if (!gst_video_info_from_caps (&context->configured_info, caps)) {
+      GST_ERROR_OBJECT (context, "Invalid caps %" GST_PTR_FORMAT, caps);
+    }
+  }
+  g_mutex_unlock (&context->priv->render_lock);
+
+  GST_DEBUG_OBJECT (context, "set configured caps %" GST_PTR_FORMAT, caps);
+}
--- a/gst-plugins-nv-video-sinks/common/context.h
+++ b/gst-plugins-nv-video-sinks/common/context.h
@@ -1,5 +1,6 @@
 /*
- * Copyright (c) 2018-2022, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) <2018-2025> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LGPL-2.1-only
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -68,6 +69,7 @@ struct _GstNvVideoContextClass
  void      (*handle_eos)   (GstNvVideoContext * context);
  void      (*handle_drc)   (GstNvVideoContext * context);
  void      (*handle_tearing)   (GstNvVideoContext * context);
+  void      (*cuda_reset_resources) (GstNvVideoContext * context);
 };

 struct _GstNvVideoContext
@@ -82,6 +84,7 @@ struct _GstNvVideoContext
  GstNvVideoContextPrivate *priv;

  guint using_NVMM;
+  guint cuda_optimized;
  GstVideoInfo configured_info;

  gboolean is_cuda_init;
@@ -89,6 +92,8 @@ struct _GstNvVideoContext
  CUgraphicsResource cuResource[3];
  unsigned int gpu_id;

+  GstCaps *configured_caps;
+
 };

 GST_EXPORT
@@ -113,6 +118,8 @@ gboolean gst_nv_video_context_create_render_thread (GstNvVideoContext * context)
 GST_EXPORT
 void gst_nv_video_context_destroy_render_thread (GstNvVideoContext * context);
 GST_EXPORT
+void gst_nv_video_context_set_configured_caps (GstNvVideoContext * context, GstCaps * caps);
+GST_EXPORT
 GstNvVideoContextType gst_nv_video_context_get_handle_type (GstNvVideoContext * context);

 GType gst_nv_video_context_get_type (void);
--- a/gst-plugins-nv-video-sinks/common/display.c
+++ b/gst-plugins-nv-video-sinks/common/display.c
@@ -1,5 +1,6 @@
 /*
- * Copyright (c) 2018, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) <2018-2025> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LGPL-2.1-only
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -59,10 +60,6 @@ gst_nv_video_display_create_context (GstNvVideoDisplay * display,
    return FALSE;
  }

-  if (!gst_nv_video_context_create (context)) {
-    return FALSE;
-  }
-
  *ptr_context = context;

  GST_DEBUG_OBJECT (display, "created context %" GST_PTR_FORMAT, context);
@@ -84,7 +81,7 @@ gst_nv_video_display_class_init (GstNvVideoDisplayClass * klass)
 gboolean
 gst_nv_video_display_new (GstNvVideoDisplay ** display)
 {
-  static volatile gsize debug_init = 0;
+  static gsize debug_init = 0;
  const gchar *winsys_name = NULL;

  if (g_once_init_enter (&debug_init)) {
--- a/gst-plugins-nv-video-sinks/common/egl/context_egl.c
+++ b/gst-plugins-nv-video-sinks/common/egl/context_egl.c
@@ -1,5 +1,6 @@
 /*
- * Copyright (c) 2018-2023, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) <2018-2025> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LGPL-2.1-only
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -104,7 +105,7 @@ gst_nv_video_context_egl_show_frame (GstNvVideoContext * context,
    }
  }

-  if (context->using_NVMM) {
+  if (context->using_NVMM && !context->cuda_optimized) {
    if (!context->is_cuda_init) {
      if (!gst_nv_video_renderer_cuda_init (context, context_egl->renderer)) {
        GST_ERROR_OBJECT (context, "cuda init failed");
@@ -160,7 +161,7 @@ gst_nv_video_context_egl_show_frame (GstNvVideoContext * context,
        is_cuda_mem = FALSE;
      }

-      if (is_cuda_mem == FALSE) {
+      if (is_cuda_mem == FALSE || context->cuda_optimized) {
        /* NvBufSurface - NVMM buffer type are handled here */
        if (in_surface->batchSize != 1) {
          GST_ERROR_OBJECT (context,"ERROR: Batch size not 1\n");
@@ -298,7 +299,7 @@ gst_nv_video_context_egl_cleanup (GstNvVideoContext * context)
      context_egl->display, context_egl->surface, context_egl->context);

  if (context_egl->renderer) {
-    if (context->using_NVMM) {
+    if (context->using_NVMM && !context->cuda_optimized) {
      gst_nv_video_renderer_cuda_cleanup (context, context_egl->renderer);
    }
    gst_nv_video_renderer_cleanup (context_egl->renderer);
@@ -329,6 +330,17 @@ gst_nv_video_context_egl_cleanup (GstNvVideoContext * context)
  return;
 }

+static void
+gst_nv_video_context_egl_cuda_reset_resources (GstNvVideoContext * context)
+{
+  GstNvVideoContextEgl *context_egl = GST_NV_VIDEO_CONTEXT_EGL (context);
+
+  if (context_egl->renderer && context->is_cuda_init) {
+    gst_nv_video_renderer_cuda_reset_resources (context, context_egl->renderer);
+    context->is_cuda_init = FALSE;
+  }
+}
+
 static GstCaps *
 gst_nv_video_context_egl_getcaps (GstNvVideoContext * context)
 {
@@ -382,6 +394,8 @@ gst_nv_video_context_egl_class_init (GstNvVideoContextEglClass * klass)
      GST_DEBUG_FUNCPTR (gst_nv_video_context_egl_handle_drc);
  context_class->handle_tearing =
      GST_DEBUG_FUNCPTR (gst_nv_video_context_egl_handle_tearing);
+  context_class->cuda_reset_resources =
+      GST_DEBUG_FUNCPTR (gst_nv_video_context_egl_cuda_reset_resources);
  context_class->cleanup = GST_DEBUG_FUNCPTR (gst_nv_video_context_egl_cleanup);

  G_OBJECT_CLASS (klass)->finalize = gst_nv_video_context_egl_finalize;
--- a/gst-plugins-nv-video-sinks/common/renderer.c
+++ b/gst-plugins-nv-video-sinks/common/renderer.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2018-2020, NVIDIA CORPORATION.  All rights reserved.
+ * Copyright (c) 2018-2023, NVIDIA CORPORATION.  All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -44,7 +44,7 @@ GstNvVideoRenderer *
 gst_nv_video_renderer_new (GstNvVideoContext * context, const char *name)
 {
  GstNvVideoRenderer *renderer = NULL;
-  static volatile gsize debug_init = 0;
+  static gsize debug_init = 0;

  if (g_once_init_enter (&debug_init)) {
    GST_DEBUG_CATEGORY_INIT (gst_debug_nv_video_renderer, "nvvideorenderer", 0,
@@ -94,6 +94,18 @@ gst_nv_video_renderer_cuda_cleanup (GstNvVideoContext * context, GstNvVideoRende
  renderer_class->cuda_cleanup (context, renderer);
 }

+void
+gst_nv_video_renderer_cuda_reset_resources (GstNvVideoContext * context, GstNvVideoRenderer * renderer)
+{
+  GstNvVideoRendererClass *renderer_class;
+
+  renderer_class = GST_NV_VIDEO_RENDERER_GET_CLASS (renderer);
+
+  if (renderer_class->cuda_reset_resources) {
+    renderer_class->cuda_reset_resources (context, renderer);
+  }
+}
+
 void
 gst_nv_video_renderer_cleanup (GstNvVideoRenderer * renderer)
 {
--- a/gst-plugins-nv-video-sinks/common/renderer.h
+++ b/gst-plugins-nv-video-sinks/common/renderer.h
@@ -44,6 +44,7 @@ struct _GstNvVideoRendererClass

  gboolean (*cuda_init)          (GstNvVideoContext *context, GstNvVideoRenderer * renderer);
  void (*cuda_cleanup)           (GstNvVideoContext *context, GstNvVideoRenderer * renderer);
+  void (*cuda_reset_resources)   (GstNvVideoContext *context, GstNvVideoRenderer * renderer);
  gboolean  (*setup)             (GstNvVideoRenderer * renderer);
  void      (*cleanup)           (GstNvVideoRenderer * renderer);
  void      (*update_viewport)   (GstNvVideoRenderer * renderer, int width, int height);
@@ -71,6 +72,9 @@ gboolean gst_nv_video_renderer_cuda_init (GstNvVideoContext * context, GstNvVide
 GST_EXPORT
 void gst_nv_video_renderer_cuda_cleanup (GstNvVideoContext * context, GstNvVideoRenderer * renderer);

+GST_EXPORT
+void gst_nv_video_renderer_cuda_reset_resources (GstNvVideoContext * context, GstNvVideoRenderer * renderer);
+
 GST_EXPORT
 gboolean gst_nv_video_renderer_setup (GstNvVideoRenderer * renderer);

--- a/gst-plugins-nv-video-sinks/common/renderer/renderer_gl.c
+++ b/gst-plugins-nv-video-sinks/common/renderer/renderer_gl.c
@@ -648,7 +648,11 @@ gst_nv_video_renderer_gl_cuda_init (GstNvVideoContext * context, GstNvVideoRende
  GstVideoFormat videoFormat;

  cuInit(0);
+#if CUDA_VERSION >= 13000
+  result = cuCtxCreate(&pctx, NULL, 0, 0);
+#else
  result = cuCtxCreate(&pctx, 0, 0);
+#endif
  if (result != CUDA_SUCCESS) {
    g_print ("cuCtxCreate failed with error(%d) %s\n", result, __func__);
    return FALSE;
@@ -760,6 +764,23 @@ gst_nv_video_renderer_gl_cuda_init (GstNvVideoContext * context, GstNvVideoRende
  return TRUE;
 }

+static void
+gst_nv_video_renderer_gl_cuda_reset_resources (GstNvVideoContext * context, GstNvVideoRenderer * renderer)
+{
+  CUresult result;
+  guint i;
+
+  for (i = 0; i < 3; i++) {
+    if (context->cuResource[i]) {
+      result = cuGraphicsUnregisterResource (context->cuResource[i]);
+      if (result != CUDA_SUCCESS) {
+        GST_ERROR_OBJECT (context, "cuGraphicsUnregisterResource failed with error(%d)", result);
+      }
+      context->cuResource[i] = NULL;
+    }
+  }
+}
+
 static void
 gst_nv_video_renderer_gl_cuda_cleanup (GstNvVideoContext * context, GstNvVideoRenderer * renderer)
 {
@@ -1281,9 +1302,11 @@ gst_nv_video_renderer_gl_cuda_buffer_copy (GstNvVideoContext *context, GstNvVide
      m.dstArray = dpArray;
      m.Height = height;

-      result = cuMemcpy2D(&m);
+      result = cuMemcpy2DAsync(&m, cudaStreamPerThread);
+      cudaStreamSynchronize(cudaStreamPerThread);
+
      if (result != CUDA_SUCCESS) {
-        g_print ("cuMemcpy2D failed with error(%d) %s\n", result, __func__);
+        g_print ("cuMemcpy2DAsync failed with error(%d) %s\n", result, __func__);
        goto HANDLE_ERROR;
      }

@@ -1344,9 +1367,11 @@ gst_nv_video_renderer_gl_cuda_buffer_copy (GstNvVideoContext *context, GstNvVide
        m.WidthInBytes = width*pstride;
        m.Height = height;

-        result = cuMemcpy2D(&m);
+        result = cuMemcpy2DAsync(&m, cudaStreamPerThread);
+        cudaStreamSynchronize(cudaStreamPerThread);
+
        if (result != CUDA_SUCCESS) {
-          g_print ("cuMemcpy2D failed with error(%d) %s %d\n", result, __func__, __LINE__);
+          g_print ("cuMemcpy2DAsync failed with error(%d) %s %d\n", result, __func__, __LINE__);
          goto HANDLE_ERROR;
        }

@@ -1515,6 +1540,8 @@ gst_nv_video_renderer_gl_class_init (GstNvVideoRendererGlClass * klass)
      GST_DEBUG_FUNCPTR (gst_nv_video_renderer_gl_cuda_init);
  renderer_class->cuda_cleanup =
      GST_DEBUG_FUNCPTR (gst_nv_video_renderer_gl_cuda_cleanup);
+  renderer_class->cuda_reset_resources =
+      GST_DEBUG_FUNCPTR (gst_nv_video_renderer_gl_cuda_reset_resources);
  renderer_class->setup = GST_DEBUG_FUNCPTR (gst_nv_video_renderer_gl_setup);
  renderer_class->cleanup =
      GST_DEBUG_FUNCPTR (gst_nv_video_renderer_gl_cleanup);
--- a/gst-plugins-nv-video-sinks/common/window.c
+++ b/gst-plugins-nv-video-sinks/common/window.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2018, NVIDIA CORPORATION.  All rights reserved.
+ * Copyright (c) 2018-2023, NVIDIA CORPORATION.  All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -54,7 +54,7 @@ GstNvVideoWindow *
 gst_nv_video_window_new (GstNvVideoDisplay * display)
 {
  GstNvVideoWindow *window = NULL;
-  static volatile gsize debug_init = 0;
+  static gsize debug_init = 0;
  const gchar *winsys_name = NULL;

  if (g_once_init_enter (&debug_init)) {
--- a/gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.c
+++ b/gst-plugins-nv-video-sinks/nv3dsink/gstnv3dsink.c
@@ -1,5 +1,6 @@
 /*
- * Copyright (c) 2018-2022, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) <2018-2025> NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LGPL-2.1-only
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
@@ -331,8 +332,10 @@ gst_nv3dsink_get_caps (GstBaseSink * bsink, GstCaps * filter)

  caps = gst_nv_video_context_get_caps (nv3dsink->context);
  if (caps) {
+    tmp = result;
    result = gst_caps_intersect (result, caps);
    gst_caps_unref (caps);
+    gst_caps_unref (tmp);
  }

  GST_DEBUG_OBJECT (bsink, "returning caps: %" GST_PTR_FORMAT, result);
@@ -352,17 +355,24 @@ gst_nv3dsink_set_caps (GstBaseSink * bsink, GstCaps * caps)
  nv3dsink = GST_NV3DSINK (bsink);

  if (!nv3dsink->context || !nv3dsink->display) {
+    GST_ERROR_OBJECT (nv3dsink, "context or display not ready");
    return FALSE;
  }

  GST_DEBUG_OBJECT (bsink, "set caps with %" GST_PTR_FORMAT, caps);

  if (nv3dsink->configured_caps) {
-    if (gst_caps_can_intersect (caps, nv3dsink->configured_caps)) {
+    if (gst_caps_is_equal (caps, nv3dsink->configured_caps)) {
      return TRUE;
    }
  }

+  // Ensure render thread is active before setting caps
+  if (!gst_nv_video_context_create (nv3dsink->context)) {
+    GST_ERROR_OBJECT (nv3dsink, "failed to create render thread during caps negotiation");
+    return FALSE;
+  }
+
  features = gst_caps_get_features (caps, 0);
  if (gst_caps_features_contains (features, GST_CAPS_FEATURE_MEMORY_NVMM)) {
    nv3dsink->context->using_NVMM = 1;
@@ -422,6 +432,8 @@ gst_nv3dsink_set_caps (GstBaseSink * bsink, GstCaps * caps)

  gst_caps_replace (&nv3dsink->configured_caps, caps);

+  gst_nv_video_context_set_configured_caps (nv3dsink->context, caps);
+
  return TRUE;
 }

@@ -447,7 +459,15 @@ gst_nv3dsink_show_frame (GstVideoSink * vsink, GstBuffer * buf)
  GST_TRACE_OBJECT (nv3dsink, "show buffer %p, window size:%ux%u", buf,
      GST_VIDEO_SINK_WIDTH (nv3dsink), GST_VIDEO_SINK_HEIGHT (nv3dsink));

+  // Try to create render thread if not already created
+  // This ensures render thread is ready even if caps negotiation hasn't completed
+  if (!gst_nv_video_context_create (nv3dsink->context)) {
+    GST_DEBUG_OBJECT (nv3dsink, "failed to create render thread, dropping frame");
+    return GST_FLOW_FLUSHING;
+  }
+
  if (!gst_nv_video_context_show_frame (nv3dsink->context, buf)) {
+    GST_DEBUG_OBJECT (nv3dsink, "render thread not ready, dropping frame");
    return GST_FLOW_FLUSHING;
  }

--- a/nvbufsurface.h
+++ b/nvbufsurface.h
@@ -1,11 +1,13 @@
 /*
- * Copyright (c) 2019-2023, NVIDIA CORPORATION.  All rights reserved.
+ * SPDX-FileCopyrightText: Copyright (c) 2019-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
- * NVIDIA Corporation and its licensors retain all intellectual property
- * and proprietary rights in and to this software, related documentation
- * and any modifications thereto.  Any use, reproduction, disclosure or
- * distribution of this software and related documentation without an express
- * license agreement from NVIDIA Corporation is strictly prohibited.
+ * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+ * property and proprietary rights in and to this material, related
+ * documentation and any modifications thereto. Any use, reproduction,
+ * disclosure or distribution of this material and related documentation
+ * without an express license agreement from NVIDIA CORPORATION or
+ * its affiliates is strictly prohibited.
 */

 /**
@@ -278,6 +280,38 @@ typedef enum
  NVBUF_COLOR_FORMAT_NV12_12LE_709,
  /** Specifies BT.709 colorspace - Y/CbCr ER 4:2:0 12-bit multi-planar. */
  NVBUF_COLOR_FORMAT_NV12_12LE_709_ER,
+  /** Specifies 8 bit GRAY scale ER - single plane */
+  NVBUF_COLOR_FORMAT_GRAY8_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_709,
+  /** Specifies BT.709 colorspace - Y/CbCr ER 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 planar */
+  NVBUF_COLOR_FORMAT_UYVY_2020,
+  /** Specifies 16 bit GRAY scale - single plane */
+  NVBUF_COLOR_FORMAT_GRAY16_LE,
+  /** Specifies 64 bit BGRA (B16 G16 R16 A16) interleaved */
+  NVBUF_COLOR_FORMAT_BGRA64_LE,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 multi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_2020,
+  /** Specifies BT.601_ER colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_709,
+  /** Specifies BT.709_ER colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 10-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_10LE_2020,
+  /** Specifies BT.601 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE,
+  /** Specifies BT.601_ER colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_ER,
+  /** Specifies BT.709 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_709,
+  /** Specifies BT.709_ER colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_709_ER,
+  /** Specifies BT.2020 colorspace - Y/CbCr 4:2:2 12-bit semi-planar. */
+  NVBUF_COLOR_FORMAT_NV16_12LE_2020,
  NVBUF_COLOR_FORMAT_LAST
 } NvBufSurfaceColorFormat;

@@ -341,7 +375,9 @@ typedef struct NvBufSurfacePlaneParamsEx
  uint32_t physicaladdress[NVBUF_MAX_PLANES];
  /** flags associated with planes */
  uint64_t flags[NVBUF_MAX_PLANES];
-
+  /** DRM modifier for plane */
+  uint64_t drmModifier[NVBUF_MAX_PLANES];
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING * NVBUF_MAX_PLANES];
 } NvBufSurfacePlaneParamsEx;

@@ -364,19 +400,25 @@ typedef struct NvBufSurfacePlaneParams
  uint32_t psize[NVBUF_MAX_PLANES];
  /** Holds the number of bytes occupied by a pixel in each plane. */
  uint32_t bytesPerPix[NVBUF_MAX_PLANES];
-
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING * NVBUF_MAX_PLANES];
 } NvBufSurfacePlaneParams;


 /**
  * Holds Chroma Subsampling parameters for NvBufSurface allocation.
+  * The members chromaLocHoriz and chromaLocVert accept these values:
+  * 0: Left horizontal or top vertical position
+  * 1: Center horizontal or center vertical position
+  * 2: Right horizontal or bottom vertical position
  */
 typedef struct NvBufSurfaceChromaSubsamplingParams
 {
  /** location settings */
  uint8_t chromaLocHoriz;
  uint8_t chromaLocVert;
+  /** Reserved for alignment */
+  uint8_t _reserved[6];
 } NvBufSurfaceChromaSubsamplingParams;

 /**
@@ -402,6 +444,8 @@ typedef struct NvBufSurfaceCreateParams {
  NvBufSurfaceLayout layout;
  /** Holds the type of memory to be allocated. */
  NvBufSurfaceMemType memType;
+  /** Holds the reserved space for future use. */
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceCreateParams;

 /**
@@ -409,24 +453,24 @@ typedef struct NvBufSurfaceCreateParams {
 * (Applicable for NvBufSurfaceAllocate API)
 */
 typedef struct NvBufSurfaceAllocateParams {
- /** Hold legacy NvBufSurface creation parameters */
+  /** Hold legacy NvBufSurface creation parameters */
  NvBufSurfaceCreateParams params;
- /** Display scan format */
+  /** Display scan format */
  NvBufSurfaceDisplayScanFormat displayscanformat;
- /** Chroma Subsampling parameters */
+  /** Chroma Subsampling parameters */
  NvBufSurfaceChromaSubsamplingParams chromaSubsampling;
- /** components tag to be used for memory allocation */
+  /** components tag to be used for memory allocation */
  NvBufSurfaceTag memtag;
- /** disable pitch padding allocation only applicable for cuda and system memory allocation  
-     pitch would be width times bytes per pixel for the plane, for odd width it would be 
-     multiple of 2, also note for some non standard video resolution cuda kernels may fail 
+  /** disable pitch padding allocation only applicable for cuda and system memory allocation
+     pitch would be width times bytes per pixel for the plane, for odd width it would be
+     multiple of 2, also note for some non standard video resolution cuda kernels may fail
     due to unaligned pitch
-     */
+   */
  bool disablePitchPadding;
- /** Used void* from custom param for 64 bit machine, using other uint32_t param */
+  /** Used void* from custom param for 64 bit machine, using other uint32_t param */
  uint32_t _reservedParam;
-
-  void * _reserved[STRUCTURE_PADDING-1];
+  /** Holds the reserved space for future use. */
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceAllocateParams;

 /**
@@ -437,7 +481,11 @@ typedef struct NvBufSurfaceMappedAddr {
  void * addr[NVBUF_MAX_PLANES];
  /** Holds a pointer to a mapped EGLImage. */
  void *eglImage;
-
+  /** Holds a pointer to a mapped NVRM memory */
+  void *nvmmPtr;
+  /** Holds a pointer to a mapped CUDA memory */
+  void *cudaPtr;
+  /** Holds the reserved space for future use. */
  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceMappedAddr;

@@ -462,6 +510,32 @@ typedef struct NvBufSurfaceParamsEx {
  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceParamsEx;

+/**
+ * Holds information of CUDA buffer.
+ * Applicable for tegra OpenRM only.
+ */
+typedef struct NvBufSurfaceCudaBuffer {
+  /**
+   * Holds a base pointer to allocated CUDA memory.
+   * It is different from dataPtr when CUDA allocated
+   * address is not page aligned for image buffers.
+   * It is same as dataPtr for other buffers.
+   */
+  void *basePtr;
+  /**
+   * Holds a page aligned data pointer to CUDA memory for image buffers
+   * if CUDA allocated address is not page aligned.
+   * It is same as basePtr for other buffers.
+   */
+  void *dataPtr;
+  /** Holds a pointer to external CUDA memory for imported CUDA buffers */
+  void *extMem;
+  /** Holds a pointer to external CUDA mipmaped array for imported CUDA buffers */
+  void *mipmap;
+  /** Reserved */
+  uint8_t reserved[64];
+} NvBufSurfaceCudaBuffer;
+
 /**
 * Hold the information of single buffer in the batch.
 */
@@ -491,8 +565,10 @@ typedef struct NvBufSurfaceParams {
  NvBufSurfaceMappedAddr mappedAddr;
  /** pointers of extended parameters of single buffer in the batch.*/
  NvBufSurfaceParamsEx *paramex;
+  /** Holds a pointer to CUDA buffer. Applicable for only CUDA Device and CUDA Host memory on tegra OpenRM.*/
+  NvBufSurfaceCudaBuffer *cudaBuffer;

-  void * _reserved[STRUCTURE_PADDING - 1];
+  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurfaceParams;

 /**
@@ -513,6 +589,8 @@ typedef struct NvBufSurface {
  NvBufSurfaceMemType memType;
  /** Holds a pointer to an array of batched buffers. */
  NvBufSurfaceParams *surfaceList;
+  /** Holds a flag for Imported buffer. */
+  bool isImportedBuf;

  void * _reserved[STRUCTURE_PADDING];
 } NvBufSurface;
@@ -542,6 +620,23 @@ typedef struct NvBufSurfaceMapPlaneParams
  uint8_t reserved[64];
 } NvBufSurfaceMapPlaneParams;

+/**
+ * CUDA IPC memory handle for NvBufSurface
+ */
+typedef struct NvBufSurfaceCudaIpcMemHandle_t
+{
+  char reserved[64];
+} NvBufSurfaceCudaIpcMemHandle;
+
+/**
+ * The extended map parameters NvBufSurface
+ */
+typedef struct NvBufSurfaceExtendedMapParams_t
+{
+  NvBufSurfaceCudaIpcMemHandle memHandle;
+  void *reserved[64];
+} NvBufSurfaceExtendedMapParams;
+
 /**
 * Holds buffer parameters to map the buffer received from another process.
 */
@@ -566,9 +661,44 @@ typedef struct NvBufSurfaceMapParams {
  NvBufSurfaceChromaSubsamplingParams chromaSubsampling;
  /** Holds plane parameters */
  NvBufSurfaceMapPlaneParams planes[NVBUF_MAX_PLANES];
+  /** Holds the extended Map parameters */
+  void *extendedMapParams;
+  /** Holds the reserved space for future use. */
+  void *_reserved[STRUCTURE_PADDING];
+} NvBufSurfaceMapParams;
+
+/**
+ * Holds information about mapped CUDA buffer
+ */
+typedef struct NvBufSurfaceNvmmBuffer {
+  /** Holds a pointer to mapped nvmm memory */
+  void *dataPtr;
+  /** Holds a DMABUF FD */
+  uint64_t bufferDesc;
  /** Reserved */
  uint8_t reserved[64];
-} NvBufSurfaceMapParams;
+} NvBufSurfaceNvmmBuffer;
+
+/**
+ * Defines the type of underlying kernel driver detected for GPU access.
+ */
+typedef enum {
+  NVBUF_DRIVER_TYPE_UNKNOWN = 0,
+  NVBUF_DRIVER_TYPE_NVGPU,
+  NVBUF_DRIVER_TYPE_RM
+} NvBufSurfaceDriverType;
+
+/**
+ * Holds information about the underlying device.
+ */
+typedef struct NvBufSurfaceDeviceInfo {
+  /** The detected device type (nvgpu, OpenRM, etc.). */
+  NvBufSurfaceDriverType driverType;
+  /** Indicates if VIC is present on the platform. */
+  bool isVicPresent;
+  /** Reserved for future use. */
+  uint8_t reserved[64];
+} NvBufSurfaceDeviceInfo;

 /**
 * \brief  Allocates a batch of buffers.
@@ -699,7 +829,7 @@ int NvBufSurfaceCopy (NvBufSurface *srcSurf, NvBufSurface *dstSurf);
 * This function can be used to copy plane memory content from source raw buffer pointer
 * to specific destination batch buffer of supported memory type.
 *
- * @param[in] surf pointer to NvBufSurface structure.
+ * @param[in] Surf pointer to NvBufSurface structure.
 * @param[in] index index of buffer in the batch.
 * @param[in] plane index of plane in buffer.
 * @param[in] out_width aligned width of the raw data plane.
@@ -708,7 +838,7 @@ int NvBufSurfaceCopy (NvBufSurface *srcSurf, NvBufSurface *dstSurf);
 *
 * @return 0 for success, -1 for failure.
 */
-int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane, unsigned int outwidth, unsigned int outheight, unsigned char *ptr);
+int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane, unsigned int out_width, unsigned int out_height, unsigned char *ptr);

 /**
 * \brief Copies the raw buffer plane memory content to the NvBufSurface plane memory of a specific
@@ -722,11 +852,11 @@ int NvBufSurface2Raw (NvBufSurface *Surf, unsigned int index, unsigned int plane
 * @param[in] plane index of plane in buffer.
 * @param[in] in_width aligned width of the raw data plane.
 * @param[in] in_height aligned height of the raw data plane.
- * @param[in] surf pointer to NvBufSurface structure.
+ * @param[in] Surf pointer to NvBufSurface structure.
 *
 * @return 0 for success, -1 for failure.
 */
-int Raw2NvBufSurface (unsigned char *ptr, unsigned int index, unsigned int plane, unsigned int inwidth, unsigned int inheight, NvBufSurface *Surf);
+int Raw2NvBufSurface (unsigned char *ptr, unsigned int index, unsigned int plane, unsigned int in_width, unsigned int in_height, NvBufSurface *Surf);

 /**
 * Syncs the HW memory cache for the CPU.
@@ -850,7 +980,94 @@ int NvBufSurfaceImport (NvBufSurface **out_nvbuf_surf, const NvBufSurfaceMapPara
 */
 int NvBufSurfaceGetMapParams (const NvBufSurface *surf, int index, NvBufSurfaceMapParams *params);

-/** @} */
+/**
+ * \brief  Creates an CUDA buffer from the memory of one or more
+ * \ref NvBufSurface buffers.
+ *
+ * Only memory type \ref NVBUF_MEM_SURFACE_ARRAY is supported.
+ *
+ * This function returns the created CUDA buffer by storing its address at
+ * \a surf->surfaceList->mappedAddr->cudaPtr. (\a surf is a pointer to
+ * an NvBufSurface. \a surfaceList is a pointer to an \ref NvBufSurfaceParams.
+ * \a mappedAddr is a pointer to an \ref NvBufSurfaceMappedAddr.
+ * \a cudaPtr is a pointer to an \ref NvBufSurfaceCudaBuffer.
+ *
+ * You can use this function in scenarios where a CUDA operation on Jetson
+ * hardware memory (identified by \ref NVBUF_MEM_SURFACE_ARRAY) is required.
+ * The NvBufSurfaceCudaBuffer struct provided by this function can be used
+ * to get dataPtr of CUDA memory.
+ *
+ * @param[in,out] surf  A pointer to an NvBufSurface structure. The function
+ *                      stores a pointer to the created CUDA buffer in
+ *                      a descendant of this structure; see the notes above.
+ * @param[in]     index Index of a buffer in the batch. -1 specifies all buffers
+ *                      in the batch.
+ *
+ * @return 0 for success, or -1 otherwise.
+ */
+int NvBufSurfaceMapCudaBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Destroys the previously created CUDA buffer.
+ *
+ * @param[in] surf      A pointer to an \ref NvBufSurface structure.
+ * @param[in] index     The index of a buffer in the batch. -1 specifies all
+ *                      buffers in the batch.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ */
+int NvBufSurfaceUnMapCudaBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Creates an NVMM buffer from the memory of one or more
+ * \ref NvBufSurface buffers.
+ *
+ * Only memory type \ref NVBUF_MEM_CUDA_DEVICE and \ref NVBUF_MEM_CUDA_PINNED
+ * are supported.
+ *
+ * This function returns the created NVMM buffer by storing its address at
+ * \a surf->surfaceList->mappedAddr->nvmmPtr. (\a surf is a pointer to
+ * an NvBufSurface. \a surfaceList is a pointer to an \ref NvBufSurfaceParams.
+ * \a mappedAddr is a pointer to an \ref NvBufSurfaceMappedAddr.
+ * \a nvmmPtr is a pointer to NVMM buffer of memory type \ref NVBUF_MEM_SURFACE_ARRAY.
+ *
+ * You can use this function in scenarios where a NVBUF_MEM_SURFACE_ARRAY operation
+ * on Jetson hardware memory identified by \ref NVBUF_MEM_CUDA_DEVICE and
+ * \ref NVBUF_MEM_CUDA_PINNED are required.
+ *
+ * @param[in,out] surf  A pointer to an NvBufSurface structure. The function
+ *                      stores a pointer to the created NVMM buffer in
+ *                      a descendant of this structure; see the notes above.
+ * @param[in]     index Index of a buffer in the batch. -1 specifies all buffers
+ *                      in the batch.
+ *
+ * @return 0 for success, or -1 otherwise.
+ */
+int NvBufSurfaceMapNvmmBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Destroys the previously created NVMM buffer.
+ *
+ * @param[in] surf      A pointer to an \ref NvBufSurface structure.
+ * @param[in] index     The index of a buffer in the batch. -1 specifies all
+ *                      buffers in the batch.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ */
+int NvBufSurfaceUnMapNvmmBuffer (NvBufSurface *surf, int index);
+
+/**
+ * \brief  Retrieves information about the underlying GPU device driver.
+ *
+ * @param[out] info      Pointer to NvBufSurfaceDeviceInfo structure.
+ *
+ * @return 0 if successful, or -1 otherwise.
+ *
+ * This function attempts to determine if the system is using 'nvgpu' or
+ * an OpenRM-based driver by checking loaded kernel modules. Also it checks
+ * if VIC is present on the platform.
+ */
+int NvBufSurfaceGetDeviceInfo (NvBufSurfaceDeviceInfo *info);

 #ifdef __cplusplus
 }
--- a/push_info.txt
+++ b/push_info.txt
@@ -1 +1 @@
-jetson_35.5_APT1
+jetson_38.2.1