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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page dwx_headlightcontroller_sample Headlight Controller Sample
@tableofcontents

@note SW Release Applicability: This sample is available in **NVIDIA DRIVE Software** releases.

@section dwx_headlightcontroller_description Description

The Headlight Controller sample demonstrates the usage of `dwHeadlightController` related APIs. Headlight Controller is an module to provide the feature that automatically turn on/off the headlight(low beam) according to environment ambient intensity change without driver's intervention.

@note The video file is expected to be an RCCB RAW/LRAW file.

@section dwx_headlightcontroller_running Running the Sample

The command line for the sample application is:

   ./sample_headlight_controller --input-type=[video|camera]
                                 --video=[path/to/video]
                                 --camera-type=[camera]
                                 --camera-group=[a|b|c|d]
                                 --camera-index=[0|1|2|3]

where

    --input-type=[video|camera]
            Defines if the input is from live camera or from a recorded video.
            Live camera is supported only on NVIDIA DRIVE(tm) platforms.
            It is not supported on Linux (x86 architecture) host systems.
            Default value: video

    --video=[path/to/video]
            Specifies the absolute or relative path of a raw, lraw or h264 recording.
            Only applicable if --input-type=video
            Default value: path/to/data/samples/headlight/into-tunnel.lraw

    --camera-type=[camera]
            Only applicable if --input-type=camera.
            Default value: ar0231-rccb-bae-sf3324

    --camera-group=[a|b|c|d]
            Is the group where the camera is connected to.
            Only applicable if --input-type=camera.
            Default value: a

    --camera-index=[0|1|2|3]
            Indicates the camera index on the given port.
            Default value: 0

@subsection dwx_headlightcontroller_examples Examples

### To run the sample on a video

    ./sample_headlight_controller --input-type=video --video=<video file.raw>

### To run the sample on a camera on NVIDIA DRIVE platforms

   ./sample_headlight_controller --input-type=camera --camera-type=<camera type> --camera-group=<camera group> --camera-index=<camera idx on camera group>

@section dwx_headlightcontroller_output Output

The output of the sample code is a video window, on the right side, it will display current control level and headlight control status.

![headlight controller sample screenshot](sample_headlight_controller.png)

For headlight device without intensity output control, threshold 0.5 should be used for the indicator of on/off, value greater equal with 0.5 should be treated as turn on signal.

For headlight device with intensity output control, you could choose the mapping range from [0.5, 1] to your can message control signal value according to fit you calibration requirement.

@section dwx_headlightcontroller_more Additional Information

For more information, see @ref headlightcontroller_mainsection.