Porting Guide from SDK 5.8 to SDK 5.10

Table of Contents

• Removed Headers
• GPS Frames
• Egomotion

This document will help you port your applications from DriveWorks SDK 5.8 to DriveWorks SDK 5.10.

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Removed Headers

Following header files have been removed:

• dw/core/Context.h
• dw/calibration/engine/CalibrationTypes.h
• dw/core/Exports.h
• dw/core/HealthSignals.h
• dw/core/Logger.h
• dw/core/Memory.h
• dw/core/NvMedia.h
• dw/core/NvMediaExt.h
• dw/core/Status.h
• dw/core/Types.h
• dw/dnn/Tensor.h
• dwval/base/SignalStatus.h

Please use these others instead:

• dw/core/context/Context.h
• dw/calibration/engine/common/CalibrationTypes.h
• dw/core/base/Exports.h
• dw/core/health/HealthSignals.h
• dw/core/logger/Logger.h
• dw/core/memory/Memory.h
• dw/core/system/NvMedia.h
• dw/core/system/NvMediaExt.h
• dw/core/base/Status.h
• dw/core/base/Types.h
• dw/dnn/tensor/Tensor.h
• dw/core/signal/SignalStatus.h

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GPS Frames

Following functionality is deprecated and will be removed in the next major release.

• struct dwGPSFrameNew in dw/sensors/gps/GPS.h
• enumeration dwGPSFlags in dw/sensors/gps/GPS.h
• field dwGPSFrame.flags in dw/sensors/gps/GPS.h
• field dwGPSFrame.utcTime and field dwGPSFrame.utcDate in dw/sensors/gps/GPS.h: Use dwGPSFrame.utcTimeUs instead
• field dwGPSFrame.gpsMode in dw/sensors/gps/GPS.h: Use dwGPSFrame.mode instead
• Creating serializers from virtual GPS sensors is not supported anymore.

Following APIs have been deprecated:

• dwSensorGPS_readFrameNew(): Use dwSensorGPS_readFrame() instead.
• dwSensorGPS_processRawDataNew(): Use dwSensorGPS_processRawData() instead.
• dwSensorGPS_popFrameNew(): Use dwSensorGPS_popFrame() instead.

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Egomotion

Egomotion header files have been moved for preparation for a split between motion model specific initialization functions and generic egomotion functions.

Generic egomotion functions have been moved to dw/egomotion/base/Egomotion.h and dw/egomotion/base/EgomotionState.h

dw/egomotion/Egomotion.h and dw/egomotion/EgomotionState.h have been deprecated and will be removed in a future release.

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