The NVIDIA® DriveWorks SDK includes samples that you can use as a starting point for developing, porting, and optimizing your applications. These samples are provided as source code that you can modify to meet specific use cases, such as the use of third-party sensors, custom rendering steps, etc.
You can use the as-delivered sample applications without compiling or loading them. If you installed the DriveWorks SDK on the target, those sample applications are ready to execute. If you need to build the samples from source, please refer to Getting Started With the NVIDIA DriveWorks SDK.
The samples use included data files by default if no other file is specified at execution. These data files are short in length, and the default samples are not to be considered as thorough demonstrations.
sudo. This generally happens when the sample tries to write an output file under /usr/local.In addition to the parameters described in each sample's documentation, the following options are also available:
| Sample | Description |
|---|---|
| Hello World Sample | Initializes the DriveWorks SDK context and accesses GPU properties. |
| Sample | Description |
|---|---|
| Camera Sample | Displays and records a video setup utilizing the SIPL framework with custom cameras. |
| Camera Extra Sample | Extension of Camera Sample. Demonstrates use of NvSci buffers and synchronization primitives. |
| Camera Replay Sample | Uses a hardware decoder to playback and display an H.264 video stream. |
| Camera Seek Sample | Demonstrates how to replay a video and seek to any point in the video. |
| USB Camera Capture Sample | Displays videos captured from generic USB cameras. |
| Sample | Description |
|---|---|
| CAN Message Interpreter Sample | Uses a DBC interpreter to decode and display CAN messages. |
| CAN Message Logger Sample | Displays messages from the CAN bus. |
| CAN Plugin Sample | Implements a driver for a CAN-based CAN sensor. |
| Data Sensor Sample | Reads time/socket data, printing timestamps and sizes for retrieved packets. |
| GPS Location Logger Sample | Displays messages from GPS devices. |
| GPS Plugin Sample | Implements a driver for a CAN-based GPS sensor. |
| IMU Logger Sample | Displays messages from IMU sensor. |
| IMU Plugin Sample | Implements a driver for a CAN-based IMU sensor. |
| Lidar Plugin Sample | Implements a driver for a UDP/TCP based LIDAR sensor. |
| Lidar Replay Sample | Displays the 3D point cloud from the LIDAR. |
| Radar Plugin Sample | Implements a driver for a UDP/TCP based RADAR sensor. |
| Radar Replay Sample | Connects to a Radar and displays the generated 3D point cloud. |
| Sensor Enumeration Sample | Enumerates all available sensors drivers in the SDK. |
| Simple Sensor Recording Sample | Records data from CAN, GPS, LIDAR, or RADAR sensors. |
| Time Sensor Sample | Performs time synchronization on LIDAR data. |
| Sample | Description |
|---|---|
| Dataspeed Bridge Sample | Demonstrates how to convert CAN signals sent and received from a dataspeed drive-by-wire system, to a generic NVIDIA-defined CAN bus format. |
| Egomotion Sample | Uses steering angle and velocity CAN measurements to compute the position of the car in the world coordinate system. |
| Rig Configuration Sample | Reads the rig configuration from the XML file produced by the Calibrated Graph to Rig File Tool. |
| VehicleIO Sample | Controls the vehicle (steering/throttle/brakes) and reads the vehicle's state. |
| VehicleIO Plugin Sample | Demonstrates how to write a fully customized drive-by-wire abstraction. |
| Sample | Description |
|---|---|
| Camera Color Correction Sample | Demonstrates H.264 video playback with color correction. |
| Connected Components Sample | Demonstrates the connected components labeling algorithm. |
| FAST9 Feature Detector Sample | Demonstrates feature detection capabilities using the FAST9 algorithm. |
| Feature Tracker Sample | Demonstrates feature detection and feature tracking capabilities using the Feature Tracker module. |
| Image Capture Sample | Demonstrates how to record a video from a CUDA® image or a rendering video. |
| Image Pyramid PVA Sample | Demonstrates the image pyramid creation pipeline on Programmable Vision Accelerator (PVA) hardware units. |
| Image Transformation Sample | Demonstrates basic image processing functionalities. |
| Multi-Thread Image Streamer Sample | Demonstrates how to use an image streamer in a multi-thread environment. |
| ORB Feature Descriptor Sample | Demonstrates the ORB feature detection and descriptor computation capabilities using the FAST9 detector and ORB descriptor algorithms. |
| Simple Image Streamer Sample | Demonstrates how to use an image streamer in a simple environment. |
| Stereo Disparity Sample | Demonstrates the stereo pipeline, and how to produce a confidence map and final stereo output. |
| Structure from Motion (SFM) Sample | Demonstrates triangulation by estimating a car pose from CAN data using the Egomotion module. |
| Template Tracker Sample | Demonstrates template tracking capabilities using the Tracking module. |
| Video Rectification Sample | Removes fisheye distortion from a video captured on a camera with a fisheye lens using the DriveWorks SDK CUDA implementation. |
| Video Rectification with LDC Sample | Removes fisheye distortion from a video captured on a camera with a fisheye lens using NvMedia LDC. |
| Sample | Description |
|---|---|
| ICP (Iterative Closest Points) Sample | Displays a composite image of sequential ICP transforms derived from LIDAR data. |
| Point Cloud Processing Sample | Demonstrates how to use point cloud processing APIs for primitive processing. |
| Sample | Description |
|---|---|
| Basic Object Detector and Tracker Sample | Demonstrates object detection and tracking for each frame in a video stream. |
| Basic Object Detector Using DNN Tensor Sample | Demonstrates object detection using NVIDIA TensorRT™. |
| DNN Plugin Sample | Demonstrates DNN inference to classify a hand-written digit, using an MNIST model with a custom layer implemented as a plugin. |
| Sample | Description |
|---|---|
| Camera Calibration Sample | Demonstrates the ability to estimate camera extrinsics using the DriveWorks SDK Calibration Engine. |
| IMU Calibration Sample | Demonstrates the ability to estimate IMU extrinsics using the DriveWorks SDK Calibration Engine. |
| Lidar Calibration Sample | Demonstrates the ability to estimate LIDAR extrinsics using the DriveWorks SDK Calibration Engine. |
| Radar Calibration Sample | Demonstrates the ability to estimate RADAR extrinsics using the DriveWorks SDK Calibration Engine. |
| Steering Calibration Sample | Demonstrates the ability to estimate vehicle steering offset using the DriveWorks SDK Calibration Engine. |
| Stereo Calibration Sample | Demonstrates the ability to estimate stereo extrinsics using the DriveWorks SDK Calibration Engine. |
| Sample | Description |
|---|---|
| Inter-process Communication (IPC) Sample | Demonstrates simple IPC functionalities using network sockets. |
| Sample | Description |
|---|---|
| Rendering Sample | Demonstrates rendering helpers which help render text, points, lines, triangles, and textures in 2D and 3D for debug visualization. |
| Rendering Engine Sample | Demonstrates how to draw points, lines, triangles, ellipses, boxes, arrows, plots, grids, and images in 2D and 3D. |
| Sample | Description |
|---|---|
| Mini Pipeline Sample | A minimal autonomous vehicle application sample. |