These intermediate tutorials are intended for users already familiar with DriveWorks and are able to build simple applications.
This is a deep dive into most of the functionalities provided, including image and point cloud processing, Deep Neural Networks (DNN) usage,
egomotion and self-calibration.
Tutorial | Description |
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Sensor Manager Workflow | Accessing time-sorted stream of events from an aggregate set of sensors. |
Modules used: Core | Sensors | Sensor Manager | Rig Configuration.
Tutorial | Description |
---|---|
Image Creation and Conversion | Creating and converting images into different formats. |
Image Scaling | Scaling images. |
Image Streamer | Your first image streamer. |
Image Streamer Multi-Thread | Streaming images between threads. |
Image Streamer Cross-Process | Streaming images across processes. |
Image Capture | Capturing images from screen. |
Camera Color Correction Workflow | Adjusting Color Distribution. |
Connected Components Workflow | Applying Component Labeling to Grey Scale Images. |
Rectifier Workflow | Converting images to a different camera model. |
Single Camera Feature Tracking | Tracking features across frames. |
Single Camera Template Tracking | Tracking the position and size of features across frames. |
2D Box Tracking | Tracking 2D bounding boxes across frames. |
Disparity Computation Workflow | Computing a disparity map from a pair of stereo images. |
Disparity Computation Workflow on PVA and NVENC | Computing a disparity map from a pair of stereo images on PVA and NVENC. |
Structure from Motion (SFM) Workflow | Estimating the structure of a scene from camera frames. |
Dense Optical Flow Workflow | Building a pipeline running on PVA. |
Modules used: Image | Rig Configuration | Camera Color Correction | Connected Components | Rectifier
Features | Tracking | Filtering | Stereo | Structure from Motion (SFM) | Dense Optical Flow.
Tutorial | Description |
---|---|
Point Cloud Memory Management | Allocating and freeing memory for low level point cloud processing. |
Point Cloud Accumulator | Accumulating Lidar spins. |
Point Cloud Stitching | Combining multiple point clouds in the a common coordinate system. |
Point Cloud Range Image Creation | Generating 2D images from accumulated point clouds. |
Point Cloud ICP | Aligning 3D points from a pair of Lidar spins. |
Point Cloud Plane Extraction | Estimating a 3D plane from a point cloud. |
Point Cloud Filter | Point cloud filter. |
Modules used: Point Cloud Processing.
Tutorial | Description |
---|---|
VehicleIO Workflow | How to actuate a vehicle. |
Relative Egomotion Workflow | How to track and predict a vehicle's pose. |
Modules used: VehicleIO | Egomotion
Tutorial | Description |
---|---|
Ray-to-Pixel and Pixel-to-Ray | How to perform Ray-to-Pixel and Pixel-to-Ray transformations. |
Feature-based Camera Self-Calibration | A complete workflow detailing camera self-calibration. |
IMU Self-Calibration | A complete workflow detailing IMU self-calibration. |
Lidar Self-Calibration | A complete workflow detailing Lidar self-calibration. |
Radar Self-Calibration | A complete workflow detailing Radar self-calibration. |
Epipolar-based Stereo Self-Calibration | A complete workflow detailing epi-polar based stereo self-calibration. |
Vehicle Self-Calibration | A complete workflow detailing steering system properities self-calibration. |
Modules used: Intrinsic Camera Models | Self-Calibration.
Tutorial | Description |
---|---|
Data Conditioner Workflow | Formatting your data. |
DNN Workflow | The DriveWorks DNN framework. |
DNN Tensors | DNN inference using tensors. |
DNN with Safe DLA | DNN inference using safe DLA. |
Clusterer Workflow | A DBSCAN implementation. |
DriveNet Workflow | A deep neural network trained for object detection. |
OpenRoadNet Workflow | A deep neural network trained for freespace detection. |
MapNet Workflow | A deep neural network trained for landmark detection. |
ParkNet Workflow | A deep neural network trained for parking space detection. |
PathNet Workflow | A deep neural network trained for path detection. |
PilotNet Workflow | A deep neural network trained for predicting paths for maneuvers. |
SignNet Workflow | A deep neural network trained for traffic sign classification. |
LightNet Workflow | A deep neural network trained for traffic light classification. |
ClearSightNet Workflow | A deep neural network trained for camera occlusion detection. |
Modules used: DNN | Data Conditioner | Clusterer | DriveNet | OpenRoadNet | MapNet | PathNet | SignNet | LightNet | PathNet ClearSightNet.