Detailed Description

Retrieval interface for "sliced" data access from Content Layer(s).

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

The DRIVE Maps API is designed to handle optional and data-intensive content with a flexible loading strategy, where the tradeoff between map extents and content density can be flexibily managed for different real-world use cases.

1) For example, building a large scale lane graph for planning purposes may require a request of the "core map" with scope of several kilometers of the planned route. In such cases a route-based map request without layers via the Map Provider API should be adequate.

2) In a contrasting example, the localization system will require a richer view of the map including images, point clouds and/or voxels, but scoped to the local environment for example in a 200x200 meter box around the vehicle.

Content Slice is intended to address use case 2) by loading Content Layers into memory on-demand, using the Local Layout as a key to access content and to provide structure to the local graph of road segment coordinate systems.

Content Layers are partitioned (sliced) according to a provided Local Layout and content is loaded efficiently with caching of segments where possible.

Layer Views are obtained from the Content Slice providing access to loaded content in a caller-defined local coordinate system.

In cases where backing data for a Content Layer has not been requested or cached from previous requests, content getters on the Layer View object will fail with DW_NOT_AVAILABLE.

NOTE: The local availabilty of data for a Content Layer can be guaranteed by making a map request including all required layers via the Map Provider API.

Typedefs
typedef struct dwMapsContentSliceObject const *	dwConstMapsContentSliceHandle_t

typedef struct dwMapsImageLayerViewObject const *	dwConstMapsImageLayerViewHandle_t

typedef struct dwMapsPointCloudLayerViewObject const *	dwConstMapsPointCloudLayerViewHandle_t

typedef struct dwMapsContentSliceObject *	dwMapsContentSliceHandle_t

typedef uint64_t	dwMapsContentUpdateToken
	Token for completion of a content slice update. More...

typedef struct dwMapsJunctionLayerViewObject *	dwMapsJunctionLayerViewHandle_t

Functions
DW_API_PUBLIC dwStatus	dwMapsContentSlice_initialize (dwMapsContentSliceHandle_t contentSliceHandle, const dwMapsContentLayerBuffer layers, size_t maxSegmentsPerLayout, dwMapProviderHandle_t providerHandle)
	Creates a new content slice, which efficiently loads and serves layered content transformed into a caller-defined local coordinate system. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializeImageLayerView (dwConstMapsImageLayerViewHandle_t *imageLayerViewHandle, dwConstMapsContentLayerHandle_t imageLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Get local view of an image layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializeJunctionLayerView (dwMapsJunctionLayerViewHandle_t *junctionLayerViewHandle, size_t junctionViewBytes, dwConstMapsContentLayerHandle_t junctionLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of a junction layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializePointCloudLayerView (dwConstMapsPointCloudLayerViewHandle_t *pointCloudLayerViewHandle, dwConstMapsContentLayerHandle_t pointCloudLayer, dwMapsContentSliceHandle_t contentSliceHandle)
	Get local view of a point cloud layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_release (dwMapsContentSliceHandle_t contentSliceHandle)
	Release content slice handle. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_tryCompleteUpdate (dwMapsContentUpdateToken updateToken, dwMapsContentSliceHandle_t contentSliceHandle)
	Attempts to complete an asynchronous sliced content update with the provided token. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_updateAsync (dwMapsContentUpdateToken *updateToken, dwConstMapsLocalLayoutHandle_t localLayoutHandle, uint32_t componentId, dwMapsContentSliceHandle_t contentSliceHandle)
	Updates sliced content layers with the specified local layout and component ID. More...

Typedef Documentation

◆ dwConstMapsContentSliceHandle_t

typedef struct dwMapsContentSliceObject const* dwConstMapsContentSliceHandle_t

Definition at line 161 of file ContentLayers.h.

◆ dwConstMapsImageLayerViewHandle_t

typedef struct dwMapsImageLayerViewObject const* dwConstMapsImageLayerViewHandle_t

Definition at line 188 of file ContentLayers.h.

◆ dwConstMapsPointCloudLayerViewHandle_t

typedef struct dwMapsPointCloudLayerViewObject const* dwConstMapsPointCloudLayerViewHandle_t

Definition at line 189 of file ContentLayers.h.

◆ dwMapsContentSliceHandle_t

typedef struct dwMapsContentSliceObject* dwMapsContentSliceHandle_t

Definition at line 160 of file ContentLayers.h.

◆ dwMapsContentUpdateToken

typedef uint64_t dwMapsContentUpdateToken

Token for completion of a content slice update.

Definition at line 186 of file ContentLayers.h.

◆ dwMapsJunctionLayerViewHandle_t

typedef struct dwMapsJunctionLayerViewObject* dwMapsJunctionLayerViewHandle_t

Definition at line 190 of file ContentLayers.h.

Function Documentation

◆ dwMapsContentSlice_initialize()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initialize	(	dwMapsContentSliceHandle_t *	contentSliceHandle,
		const dwMapsContentLayerBuffer *	layers,
		size_t	maxSegmentsPerLayout,
		dwMapProviderHandle_t	providerHandle
	)

Creates a new content slice, which efficiently loads and serves layered content transformed into a caller-defined local coordinate system.

Parameters

[out]	contentSliceHandle	Content slice handle to be initialized
[in]	layers	Descriptors for desired content layers. Obtained by dwMapProvider_getContentLayers().
[in]	maxSegmentsPerLayout	Maximum road segments per local layout
[in]	providerHandle	Handle to provider of content layers

Returns: DW_SUCCESS contentSliceHandle is successfully initialized.
DW_INVALID_ARGUMENT contentSliceHandle or layers are nullptr.
DW_BAD_ALLOC Allocation failure based on provided arguments.

◆ dwMapsContentSlice_initializeImageLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializeImageLayerView	(	dwConstMapsImageLayerViewHandle_t *	imageLayerViewHandle,
		dwConstMapsContentLayerHandle_t	imageLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Get local view of an image layer in the content slice.

Parameters

[out]	imageLayerViewHandle	Handle to the image layer view.
[in]	imageLayerHandle	Handle to the image layer.
[in]	contentSliceHandle	Handle to the content slice.

Returns: DW_SUCCESS Successfully obtained imageLayerViewHandle.
DW_INVALID_ARGUMENT contentSliceHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to content slice object.

◆ dwMapsContentSlice_initializeJunctionLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializeJunctionLayerView	(	dwMapsJunctionLayerViewHandle_t *	junctionLayerViewHandle,
		size_t	junctionViewBytes,
		dwConstMapsContentLayerHandle_t	junctionLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Create a local view of a junction layer in the content slice.

This function creates a view to the junction layer on a content slice. The first call to the method will create a view and allocate junctionViewBytes bytes for use. Repeat calls to this method on the same content slice will return the same view object.

Parameters

[out]	junctionLayerViewHandle	The junction layer view
[in]	junctionViewBytes	The number of bytes to allocate for use of this view
[in]	junctionLayerHandle	The junction layer handle
[in]	contentSliceHandle	The content slice handle

Returns: DW_SUCCESS Successfully obtained junctionLayerViewHandle
DW_INVALID_ARGUMENT contentSliceHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to content slice object.

◆ dwMapsContentSlice_initializePointCloudLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializePointCloudLayerView	(	dwConstMapsPointCloudLayerViewHandle_t *	pointCloudLayerViewHandle,
		dwConstMapsContentLayerHandle_t	pointCloudLayer,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Get local view of a point cloud layer in the content slice.

Parameters

[out]	pointCloudLayerViewHandle	Handle to the point cloud layer view.
[in]	pointCloudLayer	Handle to the point cloud layer.
[in]	contentSliceHandle	Handle to the content slice.

Returns: DW_SUCCESS Successfully obtained pointCloudLayerViewHandle
DW_INVALID_ARGUMENT contentSliceHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to content slice object.

◆ dwMapsContentSlice_release()

DW_API_PUBLIC dwStatus dwMapsContentSlice_release ( dwMapsContentSliceHandle_t contentSliceHandle )

Release content slice handle.

Parameters

[in] contentSliceHandle Content slice handle to be released

Returns: DW_SUCCESS Successfully released image layout object and handle.
DW_INVALID_ARGUMENT contentSliceHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to image layout object.

◆ dwMapsContentSlice_tryCompleteUpdate()

DW_API_PUBLIC dwStatus dwMapsContentSlice_tryCompleteUpdate	(	dwMapsContentUpdateToken	updateToken,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Attempts to complete an asynchronous sliced content update with the provided token.

Parameters

[out]	updateToken	Token used to retrieve updated content layer views.
[in]	contentSliceHandle	Content slice object to update.

Returns: DW_SUCCESS Successfully completed content update with the provider token.
DW_NOT_READY Update cannot be completed because content is loading.
DW_BAD_CAST Could not successfully cast handle to content slice object.

◆ dwMapsContentSlice_updateAsync()

DW_API_PUBLIC dwStatus dwMapsContentSlice_updateAsync	(	dwMapsContentUpdateToken *	updateToken,
		dwConstMapsLocalLayoutHandle_t	localLayoutHandle,
		uint32_t	componentId,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Updates sliced content layers with the specified local layout and component ID.

This call will modify the state of all content layer views which may have been obtained from the content slice. If backing data for a view is not yet updated, method calls on content layer views for the slice should return DW_NOT_READY.

Parameters

[out]	updateToken	Token used to complete content update.
[in]	localLayoutHandle	Local layout handle to use for content update.
[in]	componentId	Id of the connected component (0 < componentId < numComponents).
[in]	contentSliceHandle	Content slice object to update.

Returns: DW_SUCCESS Successfully updated content with the given local layout.
DW_INVALID_ARGUMENT Null or otherwise invalid argument was provided.
DW_FAILURE Content layers could not be updated for the slice.
DW_BAD_CAST Could not successfully cast handle to content slice object.

Detailed Description

Typedefs

Functions

Typedef Documentation

◆ dwConstMapsContentSliceHandle_t

◆ dwConstMapsImageLayerViewHandle_t

◆ dwConstMapsPointCloudLayerViewHandle_t

◆ dwMapsContentSliceHandle_t

◆ dwMapsContentUpdateToken

◆ dwMapsJunctionLayerViewHandle_t

Function Documentation

◆ dwMapsContentSlice_initialize()

◆ dwMapsContentSlice_initializeImageLayerView()

◆ dwMapsContentSlice_initializeJunctionLayerView()

◆ dwMapsContentSlice_initializePointCloudLayerView()

◆ dwMapsContentSlice_release()

◆ dwMapsContentSlice_tryCompleteUpdate()

◆ dwMapsContentSlice_updateAsync()