Porting Guide from SDK 4.0 to SDK 5.0

Table of Contents

• No Samples and Data Installed on DRIVE Target
• Feature List
• Feature Detector
• Core
• Stereo
• Dense Optical Flow
• Data Conditioner
• Image Streamers
• PVA Pyramid

This document will help you port your applications from DriveWorks SDK 4.0 to DriveWorks SDK 5.0.

No Samples and Data Installed on DRIVE Target

Due to size limitations on Orin system partition, DriveWorks samples & data are not pre-installed on the target.

DriveWorks libraries, required on the target to run applications dependent on DriveWorks, are present on the device.

---

Feature List

• New entry dwFeatureArray::validTrackedCount is added to dwFeatureArray and dwFeatureHistoryArray

---

Feature Detector

Following APIs and config fields have been deprecated:

• dwFeature2DDetector_getValidTrackedCount(): Now the address can be accessed directly from dwFeatureArray::validTrackedCount or dwFeatureHistoryArray::validTrackedCount
• dwFeature2DDetectorConfig::useNewToOldMapFromPreTracked: dwFeatureArray::newToOldMap contains the compact map. App can get the transferred results from the Tracker by calling dwFeature_mergeNewToOldMap()

---

Core

This release has removed the following APIs:

• dwContext_getPVAEngineCount()

---

Stereo

This release has removed the following APIs:

• dwStereoPVA_initParams()
• dwStereoPVA_initialize()
• dwStereoPVA_computeDisparity()
• dwStereoPVA_getDisparityImageProperties()
• dwStereoPVA_getConfidenceImageProperties()
• dwStereoPVA_bindInput()
• dwStereoPVA_bindOutput()
• dwStereoPVA_process()
• dwStereoPVA_setCUDAStream()
• dwStereoPVA_getCUDAStream()
• dwStereoPVA_reset()
• dwStereoPVA_release()

---

Dense Optical Flow

This release has removed the following APIs:

• dwDenseOpticalFlow_initDefaultParams()
• dwDenseOpticalFlow_initialize()
• dwDenseOpticalFlow_reset()
• dwDenseOpticalFlow_release()
• dwDenseOpticalFlow_setCUDAStream()
• dwDenseOpticalFlow_getCUDAStream()
• dwDenseOpticalFlow_getOutputImageProperties()
• dwDenseOpticalFlow_calculateOpticalFlow()

---

Data Conditioner

The data conditioner initializer dwDataConditioner_initializeNew() has been renamed to dwDataConditioner_initialize() as has been announced in Data Conditioner

---

Image Streamers

Migrating applications using cross process streamer requires adjusting dwImageStreamerCrossProcessModeParams::parameters variable corresponding to NvSci stream endpoint names as specified in nvsciipc.cfg file. For more information see Image Streamer.

---

PVA Pyramid

Following APIs have been modified:

• dwPyramidPVA_initialize() can set internal cuda stream with parameter cudaStream and pyramid level can only be set as 5.
• dwPyramidPVAParams::vpuIndex and dwPyramidPVAParams::strideItems were added and dwPyramidPVAParams::pyrScale was removed.
• dwPyramidPVAParams::numOfPyrLevels was renamed to dwPyramidPVAParams::levelCount.
• dwPyramidPVAState was updated with total five stages for pipeline control.

---