The NVIDIA® DriveWorks SDK includes the following modules.
Core
Module | Description |
Core | Provides features for most applications, including context handles, system/platform information, and memory management. |
Sensor Abstraction Layer (SAL)
Module | Description |
Sensors | Accesses sensors by utilizing a hardware abstraction layer. |
Vehicle and Motion Actuation
Module | Description |
Rig Configuration | Reads and enumerates pre-calibrated car and sensor properties. |
VehicleIO | Actuates the vehicle and provides information regarding its current state. |
Image Processing
Module | Description |
Image | Performs image abstractions, streamers, and format conversions. |
Image Transformation | Provides scaling utilities. |
Camera Color Correction | Adjusts the image color captured from cameras to match a reference camera's statistical properties. |
Connected Components | Applies unique labels for connected components in a grey scale input image. |
Rectifier | Projects images acquired from an input camera model to an output camera model. |
Features | Provides feature detection utilities. |
Filtering | Provides a Gaussian pyramid image representation. |
Tracking | Detects and tracks feature points or templates between frames from an input camera. |
Stereo | Provides stereo rectification for images acquired from a calibrated stereo camera. It also estimates the disparity between two rectified images on a confidence map. |
Structure from Motion (SFM) | Reconstructs the 3D structure of a scene given a moving camera rig. |
Point Cloud Processing
Deep Neural Network (DNN) Framework
Module | Description |
Data Conditioner | Provides image pre-processing functionalities to modify the network input format. |
DNN | Runs inference on pre-trained deep neural networks. |
Clusterer | Implements a DBSCAN data clustering algorithm to group bounding boxes with similar properties. |
Calibration
Module | Description |
Intrinsic Camera Models | Initializes camera models to provide pixel-to-ray and ray-to-pixel transformations. |
Self-Calibration | Correction of nominal calibration based on up-to-date sensor readings. It supports cameras, IMUs, Radars, Lidars, and Steering. |
Egomotion | Tracking and prediction of a vehicle's pose, based on a motion model. |
Communication
Module | Description |
IPC | Provides inter-process communication between various platforms. |
Utility
Module | Description |
Renderer | View renderer for primitives and projections. |
- Note
- For detailed instructions on utilizing these modules, please refer to the Tutorials.