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.

Module	Description
Rig Configuration	Reads and enumerates pre-calibrated car and sensor properties.
VehicleIO	Actuates the vehicle and provides information regarding its current state.

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.
Dense Optical Flow	Estimates motion vectors between frames.

Module	Description
Point Cloud Processing	Provides algorithms for low level point cloud processing.

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.

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.

Module	Description
IPC	Provides inter-process communication between various platforms.

Module	Description
Renderer	View renderer for primitives and projections.

Note: For detailed instructions on utilizing these modules, please refer to the Tutorials.