Porting Guide from SDK 5.6 to SDK 5.8

Table of Contents

• dwDNN Framework
• dwTimer API
• dwLogger API
• BoxTracker2D
• Feature Tracker
• Template Tracker
• Filtering
• Egomotion
• IMU Frames

This document will help you port your applications from DriveWorks SDK 5.6 to DriveWorks SDK 5.8.

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dwDNN Framework

Following functionality has been deprecated:

• Caffe and UFF model parsers are deprecated
• Confindence MLP is deprecated

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dwTimer API

Following functionality has been deprecated:

• dwTimer_initialize() has been deprecated and replaced by dwTimer_initializeFromSource() + dwContext_getTimeSource()

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dwLogger API

Following functionality has been deprecated:

• Logger initialization with dwLogger_initialize() using dwLogCallback has been deprecated

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BoxTracker2D

This release moved the following headers:

• dw/imageprocesssing/tracking/BoxTracker2D.h to dw/imageprocesssing/tracking/boxtracker2d/BoxTracker2D.h

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Feature Tracker

This release moved the following headers:

• dw/imageprocesssing/tracking/FeatureTracker.h to dw/imageprocesssing/tracking/featuretracker/FeatureTracker.h

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Template Tracker

This release moved the following headers:

• dw/imageprocesssing/tracking/TemplateTracker.h to dw/imageprocesssing/tracking/templatetracker/TemplateTracker.h
• Removed deprecated OCAM camera model. Use FTheta instead. Converted rig file with OCAM models to FTheta model by fitting a polynomial

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Filtering

This release moved Pyramid computation out of Filtering and moved the following headers:

• dw/imageprocesssing/filtering/Pyramid.h to dw/imageprocesssing/pyramid/Pyramid.h

The dw/imageprocesssing/filtering/Pyramid.h is deprecated and will be removed in the next major release.

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Egomotion

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

• dwEgomotion_steeringWheelAngleToSteeringAngle() has been deprecated. Please don't use it.

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IMU Frames

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

• struct dwIMUFrameNew in dw/sensors/imu/IMU.h
• enumeration dwIMUFlags in dw/sensors/imu/IMU.h
• field dwIMUFrame.flags in dw/sensors/imu/IMU.h
• enumeration dwIMUHeadingType in dw/sensors/imu/IMU.h
• field dwIMUFrame.headingType in dw/sensors/imu/IMU.h

Following APIs has been deprecated:

• dwSensorIMU_readFrameNew(): Use dwSensorIMU_readFrame() instead.
• dwSensorIMU_processRawDataNew(): Use dwSensorIMU_processRawData() instead.
• dwSensorIMU_popFrameNew(): Use dwSensorIMU_popFrame() instead.

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