For NVIDIA DriveWorks and NVIDIA DRIVE Software Releases

Note: The following subsections are applicable for both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Maps Renderer

dwMapsRenderer_renderGeoPoints renames the argument color by colors, and requires an additional argument: colorCount.

Egomotion

A typographical error in the dwMotionModelMeasurement enum cases has been fixed and incorrect values have been deprecated ahead of removal in the next major release. Please use

DW_EGOMOTION_MEASUREMENT_VELOCITY
DW_EGOMOTION_MEASUREMENT_STEERINGANGLE
DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE

going forward.

Rig

This release adds a dwGenericVehicle structure representing vehicle configuration for both passenger cars as well as trucks, including trailers.

The previously used dwVehicle is deprecated and will be removed with an upcoming major release.

Please use the following structures and API going forward:

dwGenericVehicle instead of dwVehicle
dwRig_getGenericVehicle instead of dwRig_getVehicle
dwRig_setGenericVehicle instead of dwRig_setVehicle

World

This release centralizes the coordinate systems in a new enum. Please use dwCoordinateSystem from the rig module (dw/rig/CoordinateSystem.h) instead of dwCoordSystem from the world model (dw/world/Object.h).

Feature2DDetector

This release extends the Feature2DDetector to:

use half-precision float to calculate Harris Corner score
configure the center and the standard deviation of the Gaussian kernel used to generate the feature selection mask when DW_FEATURE2D_SELECTION_MASK_TYPE_GAUSSIAN is used

As part of the changes, the following data structure and APIs are deprecated and will be removed in the next major release:

dwFeature2DDetectorConfig
dwFeature2DDetector_initDefaultParams
dwFeature2DDetector_initDefaultParamsForCamera
dwFeature2DDetector_initialize

Please use the following data structure and APIs (in the corresponding order) going forward:

dwFeature2DDetectorConfigNew
dwFeature2DDetector_initDefaultParamsNew
dwFeature2DDetector_initDefaultParamsForCameraNew
dwFeature2DDetector_initializeNew

Feature2DTracker

This release extends the Feature2DTracker to:

use half-precision float to calculate intermediate results during tracking.
set the displacement convergence threshold of the tracker

As part of the changes, the following data structure and APIs are deprecated and will be removed in the next major release:

dwFeature2DTrackerConfig
dwFeature2DTracker_initDefaultParams
dwFeature2DTracker_initDefaultParamsForCamera
dwFeature2DTracker_initialize

Please use the following data structures and APIs (in the corresponding order) going forward:

dwFeature2DTrackerConfigNew
dwFeature2DTracker_initDefaultParamsNew
dwFeature2DTracker_initDefaultParamsForCameraNew
dwFeature2DTracker_initializeNew

This release extends the DW_FEATURE2D_TRACKER_ALGORITHM_STD to support scale estimation.

This release deprecates DW_FEATURE2D_TRACKER_ALGORITHM_SFM and will be removed in the next release, please use dwFeature2DTrackerConfigNew::enableSparseOutput=1 instead.

DNN Plugins

This release introduces new plugins that are equivalent to TensorRT's IPluginV2IOExt, and deprecates the following functions that are required for the previous plugin:

_dwDNNPlugin_initializeFromWeights
_dwDNNPlugin_initialize
_dwDNNPlugin_release
_dwDNNPlugin_configureWithFormat
_dwDNNPlugin_supportsFormat

These functions will be dropped in the next major release. In order to use the new plugins, please provide an implement for the rest of the functions declared in DNNPlugin.h.

DNN Tensors

This release updates the tensor initialization function. The tensor properties are now required to be provided as a pointer. As a result of this change, the following function has been deprecated and will be removed in the next major release:

dwDNNTensor_create

Please use the following API instead:

dwDNNTensor_createNew

CAN over Aurix Ethernet.

This release updates the aurix firmware with new security features. The UDP protocol for CAN messages has been simplified. The parameter needed to setup an aurix CAN driver have been updated.

New:

inIDMap=pduID:canID[+pduID:canID]*
outIDMap=canID:pduID[+canID:pduID]*

The mapping values of the UPD pdu ID to CAN ID's must match the security setup of the aurix firmware compilation.

Removed:

bus
config-file

LocalMap

This release adds new API to the LocalMap. The API collects dwLaneGraphLane's meta data required for lane planning.

Please use the following API for dwLaneGraphLane's meta data:

dwLocalMap_bindLaneGraphMetaData

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