This document will help you port your applications from DriveWorks SDK 5.0 to DriveWorks SDK 5.2.
Following APIs have been modified:
dwCameraModel_initializeFTheta()
is replaced by dwCameraModel_initializeFThetaNew()
that takes the updated camera model config dwFThetaCameraConfigNew
as input.Following APIs have been modified:
dwFThetaCameraConfig
is replaced by dwFThetaCameraConfigNew
dwRig_getFThetaCameraConfig()
is replaced by dwRig_getFThetaCameraConfigNew()
dwRig_setFThetaCameraConfig()
is replaced by dwRig_setFThetaCameraConfigNew()
The parameter enableOdometryPropertyEstimation
in dwCalibrationRadarParams
has been separated into two parameters as follows:
enableSpeedFactorEstimation
: indicates if speed factor calibration is enabled.enableWheelRadiiEstimation
: indicates if wheel radii calibration is enabled.The parameter radarProperties
has been added to dwCalibrationRadarParams
struct.
The parameter lidarProperties
has been added to dwCalibrationLidarParams
struct.
Following API has been modified:
dwCalibrationEngine_initializeLidar()
doesn't need an input of pointer to lidar properties any more. This parameter (pointer to lidar properties) is moved to dwCalibrationLidarParams
.This release has updated the behavior of the API dwFeature2DDetector_initDefaultParams
to provide different default parameters based on the image resolution if dwFeature2DDetectorConfig.imageWidth/.imageHeight
is set before the API call.
This release has updated the behavior of dwFeature2DDetector
. The unique feature id will be generated regardless of the value of dwFeature2DDetectorConfig.autoGenerateFeatureID
. To avoid confusion, the parameter's default value is updated to true
. The parameter will be removed in the next major release.
This release has updated the behavior of the API dwFeature2DTracker_initDefaultParams
to provide different default parameters based on the image resolution if dwFeature2DTrackerConfig.imageWidth/.imageHeight
is set before the API call.
The default behavior to group all virtual cameras into a single camera group has been changed to associated each virtual camera with an individual camera group. The previous behavior can be enabled with the new dwSensorManagerParams.singleVirtualCameraGroup
parameter.