Porting Guide from SDK 5.4 to SDK 5.6

Table of Contents

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

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.

Image

All images created have NvSci backing store on drive platform unless pointed out by a warning "Allocation of NvSci Backing Store failed; skipping setup". See dwImageFormat for info on which format is not NvSci backed. If an image is NvSci backed, they can be streamed to other types free of processing or copy.

Following APIs have been modified:

• dwImage_copyConvert() changes the functionality on drive platform with DW_IMAGE_NVMEDIA input. Since NvMediaImage has been deprecated, NvMedia2D functionality for conversion on VIC unit has been moved under dwImageTransformation. Inputting DW_IMAGE_NVMEDIA to dwImage_copyConvert() will switch to CUDA conversion silently. If VIC is intended to be used, see dwImageTransformation changes in image processing.

Following API has been deprecated:

• dwImageMetaData: Following attributes have been moved: msbPosition moved to rawProperties in dwImageMetaData, exposureTime/analogGain/conversionGain/digitalGain/wbGain moved to sensorStatistics in dwImageMetaData
• dwImageNvMedia: Field "img" has been replaced with imgBuf. The typs is now NvSciBufObj abased on NvSci library as NvMediaImage has been completely deprecated in PDK 6.0.4.0
• dwImage_createAndBindNvMedia: Removed as NvMediaImage has been completely deprecated in PDK 6.0.4.0

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Image

Following APIs have been introduced:

• dwImageTransformation_appendAllocationAttributes() appends allocation attributes needed by NvMedia2D to use the input/output image with VIC engine. The dwImageProperties updated with this can be used to create the images that would work with dwImageTransformation with NvMedia2D. Note this would happen only if the input/output images are DW_IMAGE_NVMEDIA type.
• dwRectifier_appendAllocationAttributes() appends allocation attributes needed by NvMediaLDC to use the input/output image with VIC engine. The dwImageProperties updated with this can be used to create the images that would work with dwRectifier with NvMediaLDC. Note this would happen only if the input/output images are DW_IMAGE_NVMEDIA type.

Following APIs have been modified:

• dwImageTransformation_copy() Inputting DW_IMAGE_NVMEDIA leads to using NvSci based NvMedia2D, which requires the image to have been created with attributes from dwImageTransformation_appendAllocationAttributes
• dwRectifier_warp() Inputting DW_IMAGE_NVMEDIA leads to using NvSci based NvMediaLDC, which requires the image to have been created with attributes from dwRectifier_appendAllocationAttributes

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Image

Following APIs have been introduced:

• dwSensorCamera_appendAllocationAttributes() appends allocation attributes needed by NvMediaIDE/NvSIPL to use the input/output image with NvMediaIDE/ISP engine. The dwImageProperties updated with this can be used to create the images that would work with camera.gmsl or camera.virtual alongside other engines like VIC (see recent addition to dwImageTransformation and dwRectifier) or with dwChannel.
• dwSensorCamera_setImagePool() sets the user images inside dwImagePool as camera's internal fifo. The images must have been created with attributes coming from dwSensorCamera_appendAllocationAttributes and other attributes from other engines if needed.
• dwSensorCamera_enableLink() enables a specific camera link for camera.gmsl. If the link is already running, it has no effect. Link is automatically disabled in case of a error signal from camera and can be reenabled (if possible) with this.
• dwSensorCamera_disableLink() disables a specific camera link.
• dwSensorCamera_getEOFFence() get EOF sync for external sync, see dwChannel
• dwSensorCamera_fillSyncAttributes() fill sync attributes to create external sync object, see dwChannel.
• dwSensorCamera_setSyncObject() sets external sync object

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