Detailed Description

Module providing color correction of the camera view.

Note: SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Data Structures
struct	dwColorCorrectParameters
	Configuration parameters of the color correction module. More...

Typedefs
typedef struct dwColorCorrectObject *	dwColorCorrectHandle_t
	Handles representing the Color Correction interface. More...

Functions
DW_API_PUBLIC dwStatus	dwColorCorrect_correctByReferenceView (dwImageHandle_t image, uint32_t curCameraIdx, float32_t factor, dwColorCorrectHandle_t obj)
	Applies global color correction on the given image. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_getCUDAStream (cudaStream_t *stream, dwColorCorrectHandle_t obj)
	Returns the CUDA stream on which the calculations of the color correction are executed. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_initializeFromProjectionMap (dwColorCorrectHandle_t obj, dwContextHandle_t ctx, const uint32_t cameraCount, const dwVector2f pProjToGroundMap, const dwColorCorrectParameters *params)
	Creates and initializes the color correction module using the existing reprojection matrix that reprojects cameras onto a common plane (i.e., groundplane) and then extracts color information based on the overlapping regions. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_initializeFromRig (dwColorCorrectHandle_t obj, const dwColorCorrectParameters parameters, dwRigHandle_t rigConfig, dwContextHandle_t ctx)
	Creates and initializes the color correction module using dwRig. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_release (dwColorCorrectHandle_t obj)
	This method releases all resources associated with a color_correct object. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_setCUDAStream (cudaStream_t stream, dwColorCorrectHandle_t obj)
	Sets the CUDA stream to run the required calculations of the color correction. More...

DW_API_PUBLIC dwStatus	dwColorCorrect_setReferenceCameraView (const dwImageHandle_t referenceImage, uint32_t cameraIdx, dwColorCorrectHandle_t obj)
	This method adds reference view to color correction; the color of all the other views are corrected based on this view. More...

Data Structure Documentation

◆ dwColorCorrectParameters

struct dwColorCorrectParameters

Data Fields
uint32_t	cameraHeight	Height of the images from camera to be corrected. Must be even.
uint32_t	cameraWidth	Width of the images from camera to be corrected. Must be even.
uint32_t	projectionHeight	Height of the internally constructed projection image to perform color correction. If 0 specified, default of 128 is used.
uint32_t	projectionWidth	Width of the internally constructed projection image to perform color correction. If 0 specified, default of 256 is used.

Typedef Documentation

◆ dwColorCorrectHandle_t

typedef struct dwColorCorrectObject* dwColorCorrectHandle_t

Handles representing the Color Correction interface.

Definition at line 63 of file ColorCorrection.h.

Function Documentation

◆ dwColorCorrect_correctByReferenceView()

DW_API_PUBLIC dwStatus dwColorCorrect_correctByReferenceView	(	dwImageHandle_t	image,
		uint32_t	curCameraIdx,
		float32_t	factor,
		dwColorCorrectHandle_t	obj
	)

Applies global color correction on the given image.

This function does correction based on statistic data collected from the whole reprojected topview.

Parameters

[in,out]	image	Image to correct. The color correction happens in-place.
[in]	curCameraIdx	Camera index of the given image in the specified rig.
[in]	factor	Blending weight, float number between [0.f, 1.f] 0.f means using the original image and no color correction 1.f means using full weight of reference color.
[in]	obj	Handle to the color_correct class.

Returns: DW_INVALID_HANDLE - if provided color correct handle is invalid, i.e null or of wrong type .
DW_INVALID_ARGUMENT - if input image is NULL, color correct handle is null, cameraIdx is invalid, the size of the input image differs from the size passed during initialization, reference image format is not DW_IMAGE_MEMORY_TYPE_PITCH, reference image pixel format is not DW_IMAGE_YUV420 or reference image pixel type is not DW_TYPE_UINT8 or DW_TYPE_INT8.
DW_SUCCESS - Global color correction is applied successfully

Note: Input/Output image is YUV420p. Before calling this function, ensure that you already added the reference view by calling dwColorCorrect_addCameraView.

◆ dwColorCorrect_getCUDAStream()

DW_API_PUBLIC dwStatus dwColorCorrect_getCUDAStream	(	cudaStream_t *	stream,
		dwColorCorrectHandle_t	obj
	)

Returns the CUDA stream on which the calculations of the color correction are executed.

Parameters

[out]	stream	Pointer to the CUDA stream to return.
[in]	obj	Handle to the color_correct class.

Returns: DW_INVALID_ARGUMENT - if provided color correct handle or stream are NULL.
DW_INVALID_HANDLE - if provided color correct handle is invalid, i.e null or of wrong type .
DW_SUCCESS - CUDA stream is set successfully

◆ dwColorCorrect_initializeFromProjectionMap()

DW_API_PUBLIC dwStatus dwColorCorrect_initializeFromProjectionMap	(	dwColorCorrectHandle_t *	obj,
		dwContextHandle_t	ctx,
		const uint32_t	cameraCount,
		const dwVector2f *	pProjToGroundMap,
		const dwColorCorrectParameters *	params
	)

Creates and initializes the color correction module using the existing reprojection matrix that reprojects cameras onto a common plane (i.e., groundplane) and then extracts color information based on the overlapping regions.

Parameters

[out]	obj	The module handle is returned here.
[in]	ctx	Handle to the context under which it is created.
[in]	cameraCount	Number of cameras to correct.
[in]	pProjToGroundMap	An array of pixel maps mapping from ground plane into each camera's image plane. The given float array contains cameraCountprojectionWidthprojectionHeight2 float numbers. Start address of the k-th camera's data is camera[k] = pProjToGroundMap + kprojectWidthprojectHeight2. Each float pair at index (i,j) for a camera k represents a pixel coordinate in camera's image plane at position: x = pProjToGroundMap[camera[k] + (j * projectionWidth + i) * 2], y = pProjToGroundMap[camera[k] + (j * projectionWidth + i) * 2 + 1] Out(k, i, j) = CameraSpaceImage(k, x, y) is a ground plane projection image of the k-th camera.
[in]	params	Configuration parameters of the camera system to set up correction algorithms.

Returns: DW_NOT_AVAILABLE - if creation of color correction handle failed.
DW_INVALID_ARGUMENT - if color correct handle is NULL.
DW_SUCCESS - color correct handle is created successfully

Note: cameraWidth/cameraHeight must have an even value because the calculation is based on YUV420 (U/V plane is downsampled)
*

◆ dwColorCorrect_initializeFromRig()

DW_API_PUBLIC dwStatus dwColorCorrect_initializeFromRig	(	dwColorCorrectHandle_t *	obj,
		const dwColorCorrectParameters *	parameters,
		dwRigHandle_t	rigConfig,
		dwContextHandle_t	ctx
	)

Creates and initializes the color correction module using dwRig.

All camera relationships are extracted from the provided rig. Color correction is performed by reprojecting all cameras onto a common plane (i.e., groundplane) and then by extracting color information based on the overlapping regions.

Parameters

[out]	obj	The module handle is returned here.
[in]	parameters	Configuration parameters of the camera system to setup correction algorithms.
[in]	rigConfig	An opening dwRig handle.
[in]	ctx	Handle to the context under which it is created.

Returns: DW_INVALID_HANDLE - if provided color rigconfig handle is invalid, i.e null or of wrong type
DW_NOT_AVAILABLE - if creation of color correction handle failed.
DW_INVALID_ARGUMENT - if color correct handle or parameters are NULL.
DW_SUCCESS - color correct handle is created successfully

Note: cameraWidth/cameraHeight must have an even value because the calculation is based on YUV420 (U/V plane is downsampled).

◆ dwColorCorrect_release()

DW_API_PUBLIC dwStatus dwColorCorrect_release ( dwColorCorrectHandle_t obj )

This method releases all resources associated with a color_correct object.

Parameters

[in] obj The object handle to release.

Returns: DW_SUCCESS - color correct handle is released successfully

Note: This method renders the handle unusable.

◆ dwColorCorrect_setCUDAStream()

DW_API_PUBLIC dwStatus dwColorCorrect_setCUDAStream	(	cudaStream_t	stream,
		dwColorCorrectHandle_t	obj
	)

Sets the CUDA stream to run the required calculations of the color correction.

Parameters

[in]	stream	CUDA stream that is used during color correction.
[in]	obj	Handle to the color_correct class.

Returns: DW_INVALID_ARGUMENT - if provided color correct handle is NULL.
DW_INVALID_HANDLE - if provided color correct handle is invalid, i.e null or of wrong type .
DW_SUCCESS - CUDA stream is set successfully

◆ dwColorCorrect_setReferenceCameraView()

DW_API_PUBLIC dwStatus dwColorCorrect_setReferenceCameraView	(	const dwImageHandle_t	referenceImage,
		uint32_t	cameraIdx,
		dwColorCorrectHandle_t	obj
	)

This method adds reference view to color correction; the color of all the other views are corrected based on this view.

The reference image is not modified.

Parameters

[in]	cameraIdx	Index of the reference camera in the provided camera rig.
[in]	referenceImage	Image of the reference camera.
[in]	obj	Handle to the color_correct class.

Returns: DW_INVALID_HANDLE - if provided color correct handle is invalid, i.e null or of wrong type .
DW_INVALID_ARGUMENT - if given color correct handle is NULL, reference image is NULL, cameraIdx is invalid, the size of the input image differs from the size passed during initialization, reference image format is not DW_IMAGE_MEMORY_TYPE_PITCH, reference image pixel format is not DW_IMAGE_YUV420 or reference image pixel type is not DW_TYPE_UINT8 or DW_TYPE_INT8.
DW_SUCCESS - reference camera view is set successfully

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwColorCorrectParameters

Typedef Documentation

◆ dwColorCorrectHandle_t

Function Documentation

◆ dwColorCorrect_correctByReferenceView()

◆ dwColorCorrect_getCUDAStream()

◆ dwColorCorrect_initializeFromProjectionMap()

◆ dwColorCorrect_initializeFromRig()

◆ dwColorCorrect_release()

◆ dwColorCorrect_setCUDAStream()

◆ dwColorCorrect_setReferenceCameraView()