Support operators to execute on CANN backend

CANN (Compute Architecture of Neural Networks), developped by Huawei, is
a heterogeneous computing architecture for AI. Opencv DNN has already
suppoted CANN backend [#22634](opencv/opencv#22634).

There are more and more users using [Ascend NPU](https://www.hiascend.com/)
and programming with CANN, and the number is still growing rapidly.
AI training and inference are inseparable from data preprocessing.
When users use OpenCV to work with CANN backend, data preprocessing can
only run on CPUs, resulting in inefficiency.

The purpose of this commit is to enable OpenCV operators on CANN backend.
Note that these operators only support Ascend 310 now, other NPUs are
theoretically supported, but not tested.

The usage of CANN backend is consistent, Please refer to OpenCV DNN: [CANN backend manual]
(https://gist.github.com/fengyuentau/083f7f339592545c1f1d2c1fde6a53dc#file-a_ocv_cann-md):
1. [Install dependencies]
   (https://gist.github.com/fengyuentau/083f7f339592545c1f1d2c1fde6a53dc#install-dependencies)
2. [Install CANN]
   (https://gist.github.com/fengyuentau/083f7f339592545c1f1d2c1fde6a53dc#install-cann)
3. [Compile OpenCV with CANN]
   (https://gist.github.com/fengyuentau/083f7f339592545c1f1d2c1fde6a53dc#build-opencv-with-cann)

The CANN backend is used in a similar way to CUDA:
| Object    | CANN      | CUDA     |
| --------- | --------- | -------- |
| Namespace | cv::cann  | cv::cuda |
| Matrix    | AclMat    | GpuMat   |
| Stream    | AclStream | Stream   |
| Event     | AclEvent  | Event    |

The current commit provides CANN backend operator support framework, In
order to make code viewing easy, only 7 basic interfaces are
implemented, all of the following operators are tested and compared
result with CPU backend:
- [x] Add
- [x] subtract
- [x] multiply
- [x] divide
- [x] bitwise_and
- [x] bitwise_or
- [x] bitwise_xor

More operators will continue implement in new independent commits.
Performance test shows these operators efficiency improved by 2 times.

Co-authored-by: CaoMengqing <cmq0113@163.com>

modules/cannarithm/CMakeLists.txt

@@ -0,0 +1,16 @@
+ if(IOS OR WINRT OR ANDROID OR APPLE OR WIN32 OR (NOT HAVE_CANN))
+   ocv_module_disable(cannarithm)
+ endif()
+
+set(the_description "Ascend-accelerated Operations on Matrices")
+
+ocv_add_module(cannarithm opencv_core WRAP python)
+ocv_module_include_directories(${CANN_INCLUDE_DIRS})
+ocv_glob_module_sources()
+ocv_install_used_external_targets(${CANN_LIBRARIES})
+ocv_create_module(${CANN_LIBRARIES})
+
+ocv_include_directories(${CMAKE_SOURCE_DIR}/modules/ts/include)
+
+ocv_add_accuracy_tests(DEPENDS_ON opencv_cannarithm)
+ocv_add_perf_tests(DEPENDS_ON opencv_cannarithm)

modules/cannarithm/include/opencv2/acl_stream_accessor.hpp

@@ -0,0 +1,40 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef OPENCV_CANN_STREAM_ACCESSOR_HPP
+#define OPENCV_CANN_STREAM_ACCESSOR_HPP
+
+#include <acl/acl.h>
+#include "opencv2/cann.hpp"
+
+namespace cv
+{
+namespace cann
+{
+
+//! @addtogroup cann_struct
+//! @{
+
+/** @brief Class that enables getting aclrtAclStream from cann::AclStream
+ */
+struct AclStreamAccessor
+{
+    CV_EXPORTS static aclrtStream getStream(const AclStream& stream);
+    CV_EXPORTS static AclStream wrapStream(aclrtStream stream);
+};
+
+/** @brief Class that enables getting aclrtAclEvent from cann::AclEvent
+ */
+struct AclEventAccessor
+{
+    CV_EXPORTS static aclrtEvent getEvent(const AclEvent& event);
+    CV_EXPORTS static AclEvent wrapEvent(aclrtEvent event);
+};
+
+//! @} cann_struct
+
+} // namespace cann
+} // namespace cv
+
+#endif // OPENCV_CANN_STREAM_ACCESSOR_HPP

modules/cannarithm/include/opencv2/cann.hpp

@@ -0,0 +1,335 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#ifndef OPENCV_CANN_HPP
+#define OPENCV_CANN_HPP
+
+#include "opencv2/core.hpp"
+
+/**
+  @defgroup cann Ascend-accelerated Computer Vision
+  @{
+    @defgroup canncore Core part
+    @{
+      @defgroup cann_struct Data Structures
+      @defgroup cann_init Initializeation and Information
+    @}
+  @}
+ */
+
+namespace cv
+{
+namespace cann
+{
+class AclStream;
+
+//! @addtogroup cann_struct
+//! @{
+
+//===================================================================================
+// AclMat
+//===================================================================================
+
+/** @brief Base storage class for NPU memory with reference counting.
+ * AclMat class has a similar interface with Mat and AclMat, and work on [Ascend
+ * NPU](https://www.hiascend.com/) backend.
+ * @sa Mat cuda::GpuMat
+ */
+
+class CV_EXPORTS_W AclMat
+{
+public:
+    class CV_EXPORTS_W Allocator
+    {
+    public:
+        virtual ~Allocator() {}
+
+        // allocator must fill data, step and refcount fields
+        virtual bool allocate(AclMat* mat, int rows, int cols, size_t elemSize) = 0;
+        virtual void free(AclMat* mat) = 0;
+    };
+
+    /**
+     * @brief Create default allocator for AclMat. This allocator alloc memory from device for
+     * specific size.
+     */
+    CV_WRAP static AclMat::Allocator* defaultAllocator();
+
+    /**
+     * @brief Set allocator for AclMat.
+     * @param allocator
+     */
+    CV_WRAP static void setDefaultAllocator(AclMat::Allocator* allocator);
+
+    //! default constructor
+    CV_WRAP explicit AclMat(AclMat::Allocator* allocator_ = AclMat::defaultAllocator());
+
+    //! constructs AclMat of the specified size and type
+    CV_WRAP AclMat(int rows, int cols, int type,
+                   AclMat::Allocator* allocator = AclMat::defaultAllocator());
+    //! constructs AclMat of the specified size and type
+    CV_WRAP AclMat(Size size, int type, AclMat::Allocator* allocator = AclMat::defaultAllocator());
+
+    //! constructs AclMat and fills it with the specified value s
+    CV_WRAP AclMat(int rows, int cols, int type, Scalar& s,
+                   AclMat::Allocator* allocator = AclMat::defaultAllocator());
+    //! constructs AclMat and fills it with the specified value s
+    CV_WRAP AclMat(Size size, int type, Scalar& s,
+                   AclMat::Allocator* allocator = AclMat::defaultAllocator());
+
+    //! copy constructor
+    CV_WRAP AclMat(const AclMat& m);
+
+    //! constructor for AclMat headers pointing to user-allocated data
+    AclMat(int rows, int cols, int type, void* data, size_t step = Mat::AUTO_STEP);
+    //! constructor for AclMat headers pointing to user-allocated data
+    AclMat(Size size, int type, void* data, size_t step = Mat::AUTO_STEP);
+
+    //! builds AclMat from host memory (Blocking call)
+    CV_WRAP explicit AclMat(InputArray arr,
+                            AclMat::Allocator* allocator = AclMat::defaultAllocator());
+
+    //! assignment operators
+    AclMat& operator=(const AclMat& m);
+
+    //! destructor - calls release()
+    ~AclMat();
+
+    //! sets some of the AclMat elements to s (Blocking call)
+    CV_WRAP AclMat& setTo(Scalar s);
+    //! sets some of the AclMat elements to s (Non-Blocking call)
+    CV_WRAP AclMat& setTo(Scalar s, AclStream& stream);
+
+    //! swaps with other smart pointer
+    CV_WRAP void swap(AclMat& mat);
+
+    //! allocates new AclMat data unless the AclMat already has specified size and type
+    CV_WRAP void create(int rows, int cols, int type);
+
+    //! upload host memory data to AclMat (Blocking call)
+    CV_WRAP void upload(InputArray arr);
+    //! upload host memory data to AclMat (Non-Blocking call)
+    CV_WRAP void upload(InputArray arr, AclStream& stream);
+
+    //! download data from AclMat to host (Blocking call)
+    CV_WRAP void download(OutputArray dst) const;
+    //! download data from AclMat to host (Non-Blocking call)
+    CV_WRAP void download(OutputArray dst, AclStream& stream) const;
+
+    //! converts AclMat to another datatype (Blocking call)
+    CV_WRAP void convertTo(CV_OUT AclMat& dst, int rtype) const;
+
+    //! converts AclMat to another datatype (Non-Blocking call)
+    CV_WRAP void convertTo(CV_OUT AclMat& dst, int rtype, AclStream& stream) const;
+
+    //! decreases reference counter, deallocate the data when reference counter reaches 0
+    CV_WRAP void release();
+
+    //! returns element size in bytes
+    CV_WRAP size_t elemSize() const;
+
+    //! returns the size of element channel in bytes
+    CV_WRAP size_t elemSize1() const;
+
+    //! returns element type
+    CV_WRAP int type() const;
+
+    //! returns element type
+    CV_WRAP int depth() const;
+
+    //! returns number of channels
+    CV_WRAP int channels() const;
+
+    //! returns step/elemSize1()
+    CV_WRAP size_t step1() const;
+
+    //! returns AclMat size : width == number of columns, height == number of rows
+    CV_WRAP Size size() const;
+
+    //! returns true if AclMat data is NULL
+    CV_WRAP bool empty() const;
+
+    //! internal use method: updates the continuity flag
+    CV_WRAP void updateContinuityFlag();
+
+    //! expand one channel mat to multi-channels (Blocking call)
+    //! @note, source mat must only have one channel, copy value to all channels.
+    CV_WRAP void expandTo(CV_OUT AclMat& dst, int channels) const;
+
+    //! expand one channel mat to multi-channels (Non-Blocking call)
+    //! @note, source mat must only have one channel, copy value to all channels.
+    CV_WRAP void expandTo(CV_OUT AclMat& dst, int channels, AclStream& stream) const;
+
+    /*! includes several bit-fields:
+     - the magic signature
+     - continuity flag
+     - depth
+     - number of channels
+     */
+    int flags;
+
+    //! the number of rows and columns
+    int rows, cols;
+
+    //! a distance between successive rows in bytes; includes the gap if any
+    CV_PROP size_t step;
+
+    //! pointer to the data
+    uchar* data;
+
+    //! pointer to the reference counter;
+    //! when AclMat points to user-allocated data, the pointer is NULL
+    int* refcount;
+
+    //! helper fields used in locateROI and adjustROI
+    uchar* datastart;
+    const uchar* dataend;
+
+    //! allocator
+    Allocator* allocator;
+};
+
+class AclStream;
+class AclStreamAccessor;
+class AclEvent;
+class AclEventAccessor;
+class DefaultDeviceInitializer;
+
+//===================================================================================
+// AclStream
+//===================================================================================
+
+/** @brief In AscendCL Stream(AclStream) is a task queue. Stream is used to manage the parallelism
+ * of tasks. The tasks inside a Stream are executed sequentially, that is, the Stream executes
+ * sequentially according to the sent tasks; the tasks in different Streams are executed in
+ * parallel.
+ *
+ * All Non-blocking functions should pass parameter stream, These function returns immediately after
+ * the task is submitted. Caller should wait stream until completion.
+ *
+ * Blocking functions implicityly use the default stream, and synchronize stream before function
+ * return.
+ * @sa cuda::Stream
+ */
+
+// TODO: Stream is defined in namespace cuda, and pybind code does not use a namespace of stream,
+// change stream name to AclStream to avoid confilct.
+class CV_EXPORTS_W AclStream
+{
+public:
+    CV_WRAP AclStream();
+
+    //! blocks the current CPU thread until all operations in the stream are complete.
+    CV_WRAP void waitForCompletion();
+
+    //! blocks the current CPU thread until event trigger.
+    CV_WRAP void waitAclEvent(const cv::cann::AclEvent& event);
+
+    /**
+     * @brief return default AclStream object for default Acl stream.
+     */
+    CV_WRAP static AclStream& Null();
+
+    // acl symbols CANNOT used in any hpp files. Use a inner class to avoid acl symbols defined in
+    // hpp.
+    class Impl;
+
+    // add temporary mat for async release.
+    void addToAsyncRelease(const AclMat& mat);
+
+private:
+    Ptr<Impl> impl_;
+    AclStream(const Ptr<Impl>& impl);
+
+    friend class AclStreamAccessor;
+    friend class DefaultDeviceInitializer;
+};
+
+/**
+ * @brief AclEvent to synchronize between different streams.
+ */
+class CV_EXPORTS_W AclEvent
+{
+public:
+    CV_WRAP AclEvent();
+
+    //! records an event
+    CV_WRAP void record(AclStream& stream = AclStream::Null());
+
+    //! waits for an event to complete
+    CV_WRAP void waitForComplete() const;
+
+    class Impl;
+
+private:
+    Ptr<Impl> impl_;
+    AclEvent(const Ptr<Impl>& impl);
+
+    friend class AclEventAccessor;
+};
+
+/** @brief Bindings overload to create a Stream object from the address stored in an existing CANN
+ * Runtime API stream pointer (aclrtStream).
+ * @param aclStreamAddress Memory address stored in a CANN Runtime API stream pointer
+ * (aclrtStream). The created Stream object does not perform any allocation or deallocation and simply
+ * wraps existing raw CANN Runtime API stream pointer.
+ * @note Overload for generation of bindings only, not exported or intended for use internally fro C++.
+ */
+CV_EXPORTS_W AclStream wrapStream(size_t aclStreamAddress);
+
+//! @} cann_struct
+
+//===================================================================================
+// Initialization & Info
+//===================================================================================
+
+//! @addtogroup cann_init
+//! @{
+
+//! Get Ascend matrix object from Input array, upload matrix memory if need. (Blocking call)
+AclMat getInputMat(InputArray src);
+//! Get Ascend matrix object from Input array, upload matrix memory if need. (Non-Blocking call)
+AclMat getInputMat(InputArray src, AclStream& stream);
+
+//! Get Ascend matrix object from Output array, upload matrix memory if need.
+AclMat getOutputMat(OutputArray dst, int rows, int cols, int type);
+
+//! Sync output matrix to Output array, download matrix memory if need.
+void syncOutput(const AclMat& dst, OutputArray _dst);
+
+/**
+ * @brief Choose Ascend npu device.
+ */
+CV_EXPORTS_W void setDevice(int device);
+
+/**
+ * @brief Clear all context created in current Ascend device.
+ */
+CV_EXPORTS_W void resetDevice();
+
+/**
+ * @brief Get current Ascend device.
+ */
+CV_EXPORTS_W int32_t getDevice();
+
+/**
+ * @brief init AscendCL.
+ */
+CV_EXPORTS_W void initAcl();
+
+/**
+ * @brief finalize AscendCL.
+ * @note finalizeAcl only can be called once for a process. Call this function after all AscendCL
+ * options finished.
+ */
+CV_EXPORTS_W void finalizeAcl();
+
+//! @} cann_init
+
+} // namespace cann
+} // namespace cv
+
+#include "opencv2/cann.inl.hpp"
+
+#endif /* OPENCV_CANN_HPP */