Porting Guide from SDK 5.4 to SDK 5.6

Table of Contents

• Pyramid
• FeatureDetector
• Calibration Engine
• Egomotion
• Feature List
• Template Tracker

This document will help you port your applications from DriveWorks SDK 5.4 to DriveWorks SDK 5.6.

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Pyramid

Following APIs have been modified:

• dwPyramid_createFromProperties() changes the input parameter from dwPyramidImageProperties to dwPyramidImageProperties const*.

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FeatureDetector

This release moved the following headers:

• dw/imageprocesssing/features/FeatureDetector.h to dw/imageprocesssing/featuredetector/FeatureDetector.h

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Calibration Engine

Following APIs have been added:

• dwCalibrationEngine_addVehicleIONonSafetyState
• dwCalibrationEngine_addVehicleIOActuationFeedback

Following API has been deprecated:

• dwCalibrationEngine_addVehicleIOState: Use the newly added dwCalibrationEngine_addVehicleIONonSafetyState and dwCalibrationEngine_addVehicleIOActuationFeedback instead.

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Egomotion

The behavior of the follow APIs have changed:

• dwEgomotion_initParamsFromRig, dwEgomotion_initParamsFromRigByIndex: use DW_EGOMOTION_REAR_WHEEL_SPEED by default, was previously DW_EGOMOTION_FRONT_SPEED.

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Feature List

• Updated dwFeatureArray_reset and dwFeatureHistoryArray_reset APIs to take an extra input argument stream to specify the CUDA stream used to reset the array.

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Template Tracker

• Updated dwTemplateArray_reset API to take an extra input argument stream to specify the CUDA stream used to reset the array.

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