These intermediate tutorials are intended for users already familiar with DriveWorks and are able to build simple applications.
This is a deep dive into most of the functionalities provided, including image and point cloud processing, Deep Neural Networks (DNN) usage, egomotion and self-calibration.
| Tutorial | Description |
|---|---|
| Sensor Manager Workflow | Accessing time-sorted stream of events from an aggregate set of sensors. |
Modules used: Core | Sensors | Sensor Manager | Rig Configuration.
| Tutorial | Description |
|---|---|
| Image Creation and Conversion | Creating and converting images into different formats. |
| image_usecase6 | Initializing a dwImage using pixel data from PNG file. |
| Image Scaling | Scaling images. |
| Image Streamer | Your first image streamer. |
| Image Streamer Multi-Thread | Streaming images between threads. |
| Image Streamer Cross-Process | Streaming images across processes. |
| Image Capture | Capturing images from screen. |
| Camera Color Correction Workflow | Adjusting Color Distribution. |
| Connected Components Workflow | Applying Component Labeling to Grey Scale Images. |
| Rectifier Workflow | Converting images to a different camera model. |
| Single Camera Feature Tracking | Tracking features across frames. |
| Single Camera Feature Tracking | Tracking the position and size of features across frames. |
| 2D Box Tracking | Tracking 2D bounding boxes across frames. |
| Disparity Computation Workflow | Computing a disparity map from a pair of stereo images. |
| Disparity Computation Workflow on PVA and NVENC | Computing a disparity map from a pair of stereo images on PVA and NVENC. |
| Structure from Motion (SFM) Workflow | Estimating the structure of a scene from camera frames. |
| Pose estimation | Determines camera pose using PnP pose estimator. |
Modules used: Image | Rig Configuration | Camera Color Correction | Connected Components | Rectifier | Features | Features | BoxTracker2D | Feature Tracker | Tracking | Filtering | Stereo | Structure from Motion (SFM).
| Tutorial | Description |
|---|---|
| Point Cloud Memory Management | Allocating and freeing memory for low level point cloud processing. |
| Point Cloud Accumulator | Accumulating Lidar spins. |
| Point Cloud Stitching | Combining multiple point clouds in the a common coordinate system. |
| Point Cloud Range Image Creation | Generating 2D images from accumulated point clouds. |
| Point Cloud ICP | Aligning 3D points from a pair of Lidar spins. |
| Point Cloud Plane Extraction | Estimating a 3D plane from a point cloud. |
| Point Cloud Filter | Point cloud filter. |
Modules used: Point Cloud Processing.
| Tutorial | Description |
|---|---|
| VehicleIO Workflow | How to actuate a vehicle. |
| Relative Egomotion Workflow | How to track and predict a vehicle's pose. |
Modules used: VehicleIO | Egomotion
| Tutorial | Description |
|---|---|
| Ray-to-Pixel and Pixel-to-Ray | How to perform Ray-to-Pixel and Pixel-to-Ray transformations. |
| Feature-based Camera Self-Calibration | A complete workflow detailing camera self-calibration. |
| IMU Self-Calibration | A complete workflow detailing IMU self-calibration. |
| Lidar Self-Calibration | A complete workflow detailing Lidar self-calibration. |
| Radar Self-Calibration | A complete workflow detailing Radar self-calibration. |
| Epipolar-based Stereo Self-Calibration | A complete workflow detailing epi-polar based stereo self-calibration. |
| Vehicle Self-Calibration | A complete workflow detailing steering system properities self-calibration. |
Modules used: Intrinsic Camera Models | Self-Calibration.
| Tutorial | Description |
|---|---|
| Data Conditioner Workflow | Formatting your data. |
| DNN Workflow | The DriveWorks DNN framework. |
| DNN Tensors | DNN inference using tensors. |
| DNN with Safe DLA | DNN inference using safe DLA. |
| Clusterer Workflow | A DBSCAN implementation. |
Modules used: DNN | Data Conditioner | Clusterer
