Detailed Description

The NvMedia Lens Distortion Correction (LDC) API contains NvMedia functions for accessing the LDC hardware engine for geometric transform and temporal noise reduction (TNR3).

Data Structures
struct	NvMediaCamIntriParams
	Holds NvMedia camera intrinsic parameters. More...

struct	NvMediaLensDistortion
	Holds distortion coefficients for the lens model. More...

struct	NvMediaCameraModel
	Holds NvMedia LDC camera parameter info. More...

struct	NvMediaLDCRegionConfig
	Holds the NvMedia LDC region configuration. More...

struct	NvMediaLDCBitMaskMap
	Holds the NvMedia mask map surface. More...

struct	NvMediaGeoTransParams
	Holds geometric transform initialization paramters. More...

struct	NvMediaTNR3Params
	Holds the TNR3 initialization paramters. More...

struct	NvMediaTNR2Params
	Holds the TNR2 initialization paramters. More...

struct	NvMediaLDCInitParams
	Holds the NvMedia LDC initialization paramters. More...

struct	NvMediaLDCSparseWarpMap
	Holds the NvMedia LDC defintion of Sparse warp map. More...

struct	NvMediaLDCCtrlParams
	Holds runtime control parameters for NvMediaLDCProcess(). More...

Macros
#define	NVMEDIA_LDC_VERSION_MAJOR 1
	Defines the major version number. More...

#define	NVMEDIA_LDC_VERSION_MINOR 2
	Defines the minor version number. More...

#define	NVMEDIA_LDC_MAX_HOR_REGION 4
	Defines the maximum number of horizontal regions. More...

#define	NVMEDIA_LDC_MAX_VER_REGION 4
	Defines the aximum number of vertical regions. More...

#define	NVMEDIA_LDC_MIN_REGION_WIDTH 64
	Defines the minimum width of horizontal and vertical regions. More...

#define	NVMEDIA_LDC_MIN_REGION_HEIGHT 16
	Defines the minimum height of horizontal and vertical regions. More...

Typedefs
typedef struct NvMediaLDC	NvMediaLDC
	Defines the NvMedia LDC handle as an opaque struct. More...

Enumerations
enum	NvMediaLDCMode { NVMEDIA_LDC_MODE_GEOTRANS, NVMEDIA_LDC_MODE_TNR3, NVMEDIA_LDC_MODE_GEOTRANS_TNR3, NVMEDIA_LDC_MODE_TNR2 }
	Defines the NvMedia LDC operating modes. More...

enum	NvMediaGeoTransMode { NVMEDIA_GEOTRANS_MODE_GEN_MAPPING = 0, NVMEDIA_GEOTRANS_MODE_FEED_MAPPING, NVMEDIA_GEOTRANS_MODE_AFFINE_TRANSFORM, NVMEDIA_GEOTRANS_MODE_PERSPECTIVE_TRANSFORM }
	Defines geometric transform operate modes. More...

enum	NvMediaLensModel { NVMEDIA_LDC_MODEL_POLYNOMIAL_DISTORTION, NVMEDIA_LDC_MODEL_FISHEYE_EQUIDISTANT, NVMEDIA_LDC_MODEL_FISHEYE_EQUISOLID, NVMEDIA_LDC_MODEL_FISHEYE_ORTHOGRAPHIC, NVMEDIA_LDC_MODEL_FISHEYE_STEREOGRAPHIC }
	Defines supported lens models. More...

enum	NvMediaLDCDataFormat { NVMEDIA_LDC_DATAFORMAT_FLOAT_T, NVMEDIA_LDC_DATAFORMAT_FIXEDFLOAT_S15_5 }
	Defines the NvMedia LDC Data Format. More...

enum	NvMediaLDCSobelMode { NVMEDIA_GEOTRANS_DISABLE_XSOBEL_DISABLE_DS = 0, NVMEDIA_GEOTRANS_DISABLE_XSOBEL_ENABLE_DS, NVMEDIA_GEOTRANS_ENABLE_XSOBEL_DISABLE_DS, NVMEDIA_GEOTRANS_ENABLE_XSOBEL_ENABLE_DS }
	Defines the xSobel working modes. More...

Functions
NvMediaStatus	NvMediaLDCGetVersion (NvMediaVersion *version)
	Returns the version information of NvMedia LDC. More...

NvMediaStatus	NvMediaLDCCreate (NvMediaLDC *pldc, const uint16_t srcWidth, const uint16_t srcHeight, const NvMediaRect srcRect, const uint16_t dstWidth, const uint16_t dstHeight, const NvMediaRect dstRect, const NvMediaLDCInitParams initParams)
	Creates an NvMedia LDC handle. More...

NvMediaStatus	NvMediaLDCDestroy (NvMediaLDC *ldc)
	Destroys the NvMedia LDC handle that was created by NvMediaLDCCreate(). More...

NvMediaStatus	NvMediaLDCFeedSparseWarpMap (NvMediaLDC ldc, const NvMediaLDCSparseWarpMap map)
	Feeds sparse warp map to NvMedia LDC. More...

NvMediaStatus	NvMediaLDCMappingGen (NvMediaLDC *ldc)
	Generates sparse warp mapping based on NvMediaCameraModel. More...

NvMediaStatus	NvMediaLDCUpdateTNR3Params (NvMediaLDC ldc, const NvMediaTNR3Params tnr3Params)
	Updates TNR3 parameters after NvMediaLDCCreate(). More...

NvMediaStatus	NvMediaLDCProcess (NvMediaLDC ldc, NvMediaImage prevSurface, NvMediaImage curSurface, NvMediaImage outputSurface, NvMediaImage xSobel, NvMediaImage downSample, const NvMediaLDCCtrlParams *ldcCtrlParams)
	Performs the specified LDC operation. More...

Macro Definition Documentation

#define NVMEDIA_LDC_MAX_HOR_REGION 4

Defines the maximum number of horizontal regions.

Definition at line 48 of file nvmedia_ldc.h.

#define NVMEDIA_LDC_MAX_VER_REGION 4

Defines the aximum number of vertical regions.

Definition at line 51 of file nvmedia_ldc.h.

#define NVMEDIA_LDC_MIN_REGION_HEIGHT 16

Defines the minimum height of horizontal and vertical regions.

Definition at line 57 of file nvmedia_ldc.h.

#define NVMEDIA_LDC_MIN_REGION_WIDTH 64

Defines the minimum width of horizontal and vertical regions.

Definition at line 54 of file nvmedia_ldc.h.

#define NVMEDIA_LDC_VERSION_MAJOR 1

Defines the major version number.

Definition at line 38 of file nvmedia_ldc.h.

#define NVMEDIA_LDC_VERSION_MINOR 2

Defines the minor version number.

Definition at line 40 of file nvmedia_ldc.h.

Typedef Documentation

typedef struct NvMediaLDC NvMediaLDC

Defines the NvMedia LDC handle as an opaque struct.

Definition at line 45 of file nvmedia_ldc.h.

Enumeration Type Documentation

enum NvMediaGeoTransMode

Defines geometric transform operate modes.

Enumerator
NVMEDIA_GEOTRANS_MODE_GEN_MAPPING	Specifies to generate sparse warp map for geometric transform.
NVMEDIA_GEOTRANS_MODE_FEED_MAPPING	Specifies to take sparse warp map from client via NvMediaLDCFeedSparseWarpMap().
NVMEDIA_GEOTRANS_MODE_AFFINE_TRANSFORM	Specifies to do affine transform.
NVMEDIA_GEOTRANS_MODE_PERSPECTIVE_TRANSFORM	Specifies to do perspective transform.

Definition at line 79 of file nvmedia_ldc.h.

enum NvMediaLDCDataFormat

Defines the NvMedia LDC Data Format.

Enumerator
NVMEDIA_LDC_DATAFORMAT_FLOAT_T	standard float_t format
NVMEDIA_LDC_DATAFORMAT_FIXEDFLOAT_S15_5	S15.5 is the fixed floating format where the data is stored only in the most significant 20 bits of 32bits (4 bytes).

Definition at line 518 of file nvmedia_ldc.h.

enum NvMediaLDCMode

Defines the NvMedia LDC operating modes.

Enumerator
NVMEDIA_LDC_MODE_GEOTRANS	Specifies to do geometric transform.
NVMEDIA_LDC_MODE_TNR3	Specifies to do temporal noise reduction version 3.
NVMEDIA_LDC_MODE_GEOTRANS_TNR3	Specifies to do both geometric transform and temporal noise reduction version 3.
NVMEDIA_LDC_MODE_TNR2	Specifies to do temporal noise reduction version 2.

Definition at line 62 of file nvmedia_ldc.h.

enum NvMediaLDCSobelMode

Defines the xSobel working modes.

Enumerator
NVMEDIA_GEOTRANS_DISABLE_XSOBEL_DISABLE_DS	Specifies to disable both sobel and downsample output.
NVMEDIA_GEOTRANS_DISABLE_XSOBEL_ENABLE_DS	Specifies to produce luma sobel and luma downsample output.
NVMEDIA_GEOTRANS_ENABLE_XSOBEL_DISABLE_DS	Specifies to produce gradient sobel and disable downsample output.
NVMEDIA_GEOTRANS_ENABLE_XSOBEL_ENABLE_DS	Specifies to produce gradient sobel and gradient downsample output.

Definition at line 561 of file nvmedia_ldc.h.

enum NvMediaLensModel

Defines supported lens models.

Enumerator
NVMEDIA_LDC_MODEL_POLYNOMIAL_DISTORTION	Polynomial distortion model.
NVMEDIA_LDC_MODEL_FISHEYE_EQUIDISTANT	Fisheye model: r = 2ftan(theta/2), where theta is the angle from the optical axis, f is the focal length and r is the distance of a pixel from the image center.
NVMEDIA_LDC_MODEL_FISHEYE_EQUISOLID	Fisheye model: r = f*theta, where theta is the angle from the optical axis, f is the focal length and r is the distance of a pixel from the image center.
NVMEDIA_LDC_MODEL_FISHEYE_ORTHOGRAPHIC	Fisheye model: r = 2fsin(theta/2), where theta is the angle from the optical axis, f is the focal length and r is the distance of a pixel from the image center.
NVMEDIA_LDC_MODEL_FISHEYE_STEREOGRAPHIC	Fisheye model: r = fsin(theta), where theta is the angle from the optical axis, f is the focal length and r is the distance of a pixel from the image center.

Definition at line 97 of file nvmedia_ldc.h.

Function Documentation

NvMediaStatus NvMediaLDCCreate	(	NvMediaLDC **	pldc,
		const uint16_t	srcWidth,
		const uint16_t	srcHeight,
		const NvMediaRect *	srcRect,
		const uint16_t	dstWidth,
		const uint16_t	dstHeight,
		const NvMediaRect *	dstRect,
		const NvMediaLDCInitParams *	initParams
	)

Creates an NvMedia LDC handle.

The function creates and initializes the appropriate internal infrastructure for LDC/TNR3 depending on the input arguments. A valid NvMedia LDC handle is returned if successful.

Parameters

[out]	pldc	An indirect pointer to the NvMediaLDC handle.
[in]	srcWidth	Width of the source image.
[in]	srcHeight	Height of the source image.
[in]	srcRect	Structure containing co-ordinates of the rectangle in the source image. Setting srcRect to NULL implies rectangle of full source image size.
[in]	dstWidth	Width of the destination image.
[in]	dstHeight	Height of the destination image.
[in]	dstRect	Structure containing co-ordinates of the rectangle in the destination image. Setting dstRect to NULL implies rectangle of full destination image size.
[in]	initParams	Initialization parameters of LDC creation. See NvMediaLDCInitParams.

Returns

NvMediaStatus Status indicator. Possible return values are:

NVMEDIA_STATUS_OK - Success. pldc will point to a valid LDC handle.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument.
NVMEDIA_STATUS_NOT_SUPPORTED - Not supported in current config.
NVMEDIA_STATUS_OUT_OF_MEMORY - Insufficient memory

NvMediaStatus NvMediaLDCDestroy ( NvMediaLDC * ldc )

Destroys the NvMedia LDC handle that was created by NvMediaLDCCreate().

Frees up the internal resources and handles allocated during NvMediaLDCCreate().

Parameters

[in] ldc Handle to the current context, previously returned by NvMediaLDCCreate().

Returns

NvMediaStatus Status indicator. Possible return values are:

NVMEDIA_STATUS_OK - Success. ldc is not a valid NvMediaLDC handle anymore.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.

NvMediaStatus NvMediaLDCFeedSparseWarpMap	(	NvMediaLDC *	ldc,
		const NvMediaLDCSparseWarpMap *	map
	)

Feeds sparse warp map to NvMedia LDC.

Must be called when NvMediaGeoTransMode is NVMEDIA_GEOTRANS_MODE_FEED_MAPPING. The sparse warp map must match the NvMediaLDCRegionConfig.

Parameters

[in]	ldc	Handle to the current context, previously returned by NvMediaLDCCreate().
[in]	map	Client-specified sparse warp map, NvMediaLDCSparseWarpMap.

Returns

NvMediaStatus Status indicator. Possible return values are:

NVMEDIA_STATUS_OK - Success.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument.
NVMEDIA_STATUS_NOT_SUPPORTED - Not supported in current config.
NVMEDIA_STATUS_OUT_OF_MEMORY - Insufficient memory

NvMediaStatus NvMediaLDCGetVersion ( NvMediaVersion * version )

Returns the version information of NvMedia LDC.

Parameters

[in] version A pointer to a NvMediaVersion structure filled by the NvMedia LDC.

Returns

NvMediaStatus. Return status. Possible values are:

NVMEDIA_STATUS_OK - Success.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument.

NvMediaStatus NvMediaLDCMappingGen ( NvMediaLDC * ldc )

Generates sparse warp mapping based on NvMediaCameraModel.

Must be called when NvMediaGeoTransMode is NVMEDIA_GEOTRANS_MODE_GEN_MAPPING. This is a CPU-based operation.

Parameters

[in] ldc Handle to the current context, previously returned by NvMediaLDCCreate().

Returns

NvMediaStatus Status indicator. Possible return values are:

NVMEDIA_STATUS_OK - Success.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument.
NVMEDIA_STATUS_NOT_SUPPORTED - Not supported in current config.

NvMediaStatus NvMediaLDCProcess	(	NvMediaLDC *	ldc,
		NvMediaImage *	prevSurface,
		NvMediaImage *	curSurface,
		NvMediaImage *	outputSurface,
		NvMediaImage *	xSobel,
		NvMediaImage *	downSample,
		const NvMediaLDCCtrlParams *	ldcCtrlParams
	)

Performs the specified LDC operation.

LDC performs transformations depending onthe GEO mode:

LDC performs geometric transformation if NvMediaLDCInitParams::ldcMode is NVMEDIA_LDC_MODE_GEOTRANS or NVMEDIA_LDC_MODE_GEOTRANS_TNR3. It uses NvMediaLDCInitParams::geoTransParams to fetch the pixel defined by srcRect in the source image and renders onto the destination rectangle of the destination image. The source image and the destination image must have the same format. LDC bypasses the transform stage if geometric transform is disabled. The region of interest in the destination image is defined by:
- Destination rectangle and
- NvMediaLDCBitMaskMap surface (if NvMediaGeoTransParams::bitMaskEnable is set).
LDC outputs xSobel if:
- NvMediaLDCInitParams::ldcMode is NVMEDIA_LDC_MODE_GEOTRANS and
- NvMediaLDCCtrlParams::xSobelMode is NVMEDIA_GEOTRANS_ENABLE_XSOBEL_ENABLE_DS or NVMEDIA_GEOTRANS_ENABLE_XSOBEL_DISABLE_DS.
  The xSobel image must have the same bit-depth as the source image. NvMediaLDCCtrlParams::xSobelMode must be NULL if NvMediaLDCInitParams::ldcMode is not NVMEDIA_LDC_MODE_GEOTRANS.
LDC outputs 4x4 downsampled xSobel output if:
- NvMediaLDCInitParams::ldcMode is NVMEDIA_LDC_MODE_GEOTRANS and
- NvMediaLDCCtrlParams::xSobelMode is NVMEDIA_GEOTRANS_ENABLE_XSOBEL_ENABLE_DS or NVMEDIA_GEOTRANS_DISABLE_XSOBEL_ENABLE_DS.
  The downSample image must have the same bit-depth as the source image. downSample must be NULL if no downsample output is expected.

If NvMediaLDCInitParams::ldcMode is NVMEDIA_LDC_MODE_TNR3 or NVMEDIA_LDC_MODE_GEOTRANS_TNR3, LDC performs temporal noise reduction.

NvMediaLDCProcess() is a non-blocking call.

NvMediaImageGetStatus() can be used to check the status of input/output images.

Parameters

[in]	ldc	NvMediaLDC Handle obtained by call to NvMediaLDCCreate().
[in]	prevSurface	A pointer to the previous image output. Used only when NvMediaLDCInitParams::ldcMode is NVMEDIA_LDC_MODE_GEOTRANS_TNR3 or NVMEDIA_LDC_MODE_TNR3.
[in]	curSurface	A pointer to the source image.
[in,out]	outputSurface	A pointer to the output image. Caller must create this surface.
[in,out]	xSobel	A pointer to the xSobel image output. Caller must create this surface.
[in,out]	downSample	A pointer to the downsampled image output. Caller must create this surface.
[in]	ldcCtrlParams	A pointer to run-time control parameters.

Returns

A status indicator. Possible values are:

NVMEDIA_STATUS_OK - Success.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument(s).
NVMEDIA_STATUS_NOT_SUPPORTED - Not supported in current config.
NVMEDIA_STATUS_OUT_OF_MEMORY - Insufficient memory.
NVMEDIA_STATUS_ERROR - A catch-all error, used when no other error code applies.

NvMediaStatus NvMediaLDCUpdateTNR3Params	(	NvMediaLDC *	ldc,
		const NvMediaTNR3Params *	tnr3Params
	)

Updates TNR3 parameters after NvMediaLDCCreate().

NvMediaLDCCreate() initializes NvMediaLDC with TNR3 parameters specified as part of NvMediaLDCInitParams. If necessary, this function can be used to update the TNR3 parameters.

Parameters

[in]	ldc	Handle to the current context, previously returned by NvMediaLDCCreate().
[in]	tnr3Params	Pointer to object of type NvMediaTNR3Params.

Returns

NvMediaStatus. Status indicator. Possible values are:

NVMEDIA_STATUS_OK - Success.
NVMEDIA_STATUS_NOT_INITIALIZED - Invalid state.
NVMEDIA_STATUS_BAD_PARAMETER - Invalid input argument(s).
NVMEDIA_STATUS_NOT_SUPPORTED - Not supported in current config.

NVIDIA DRIVE OS Linux API Reference

5.1.0.2 Release

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation