Detailed Description

Provides access to properties and content of an image layer.

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

Data Structures
struct	dwMapsImage
	Structure to store images for maps Image coordinate system by convention: More...

struct	dwMapsImageId
	Unique identifier for an element of an image layer. More...

struct	dwMapsImageLayerProperties
	Properties of an image layer. More...

Enumerations
enum	dwMapsImageType { DW_MAPS_IMAGE_TYPE_UNKNOWN = (1 << 0), DW_MAPS_IMAGE_TYPE_LIDAR_GROUND_REFLECTANCE = (1 << 1), DW_MAPS_IMAGE_TYPE_LIDAR_ELEVATION_MODEL = (1 << 2), DW_MAPS_IMAGE_TYPE_LIDAR_HEIGHT_SLICE_RAW = (1 << 3), DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS_RCS = (1 << 4), DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS_RAW = (1 << 5), DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS = (1 << 6), DW_MAPS_IMAGE_TYPE_LIDAR_HEIGHT_SLICE = (1 << 7) }
	Types of images which may be available in the map. More...

Functions
DW_API_PUBLIC dwStatus	dwMapsImageLayer_checkType (dwConstMapsContentLayerHandle_t contentLayerHandle)
	Checks if a content layer is an image layer. More...

DW_API_PUBLIC dwStatus	dwMapsImageLayer_getProperties (dwMapsImageLayerProperties *properties, dwConstMapsContentLayerHandle_t imageLayerHandle)
	Get properties of an image layer. More...

Variables
const char *const	DW_MAPS_IMAGE_LAYER_ID_LIDAR_ELEVATION_MODEL

const char *const	DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE

const char *const	DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE_RAW

const char *const	DW_MAPS_IMAGE_LAYER_ID_LIDAR_GROUND_REFLECTANCE
	System-defined image layer identifiers. More...

const char *const	DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS

const char *const	DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RAW

const char *const	DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RCS

Data Structure Documentation

◆ dwMapsImage

struct dwMapsImage

Data Fields
dwMapsImageId	id	Unique (per layer) ID for the image.
dwImageCPU *	image	Image data and properties.
dwMapsImageType	mapsImageType	Type of image represented.
float32_t	meterPerPx	Metric resolution (used to scale image)
dwTransformation3f	toLocal	Transform from scaled image space to local metric frame.

◆ dwMapsImageId

struct dwMapsImageId

Data Fields
uint64_t	high	Upper 64 bits.
uint64_t	low	Lower 64 bits.

◆ dwMapsImageLayerProperties

struct dwMapsImageLayerProperties

Data Fields
dwMapsImageType	mapsImageType	Type of images contained by the layer.
size_t	maxHeightPixels	Maximum height of any image in the layer.
size_t	maxWidthPixels	Maximum width of any image in the layer.

Enumeration Type Documentation

◆ dwMapsImageType

enum dwMapsImageType

Types of images which may be available in the map.

Enumerator
DW_MAPS_IMAGE_TYPE_UNKNOWN	Defaults to unknown type.
DW_MAPS_IMAGE_TYPE_LIDAR_GROUND_REFLECTANCE	Single channel LiDAR ground reflectance image (float32_t)
DW_MAPS_IMAGE_TYPE_LIDAR_ELEVATION_MODEL	Single channel LiDAR digital elevation model image (float32_t)
DW_MAPS_IMAGE_TYPE_LIDAR_HEIGHT_SLICE_RAW	Single channel raw LiDAR height slice image (uint8_t)
DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS_RCS	Single channel RaDAR RCS ground projection image (float32_t)
DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS_RAW	Single channel raw RaDAR detections ground projection image (uint8_t)
DW_MAPS_IMAGE_TYPE_RADAR_DETECTIONS	Single channel RaDAR detections image (uint8_t)
DW_MAPS_IMAGE_TYPE_LIDAR_HEIGHT_SLICE	Single channel LiDAR height slice image (uint8_t)

Definition at line 79 of file ImageLayer.h.

Function Documentation

◆ dwMapsImageLayer_checkType()

DW_API_PUBLIC dwStatus dwMapsImageLayer_checkType ( dwConstMapsContentLayerHandle_t contentLayerHandle )

Checks if a content layer is an image layer.

Parameters

[in] contentLayerHandle Handle to content layer object.

Returns: DW_SUCCESS Content layer is an image layer.
DW_INVALID_ARGUMENT Layer type is not DW_MAPS_CONTENT_LAYER_TYPE_IMAGES.
DW_BAD_CAST Could not successfully cast handle to image layer object.

◆ dwMapsImageLayer_getProperties()

DW_API_PUBLIC dwStatus dwMapsImageLayer_getProperties	(	dwMapsImageLayerProperties *	properties,
		dwConstMapsContentLayerHandle_t	imageLayerHandle
	)

Get properties of an image layer.

Parameters

[out]	properties	Properties of the image layer.
[in]	imageLayerHandle	Handle to image layer object.

Returns: DW_SUCCESS Successfully returned properties.
DW_INVALID_ARGUMENT Indicates properties is nullptr.
DW_BAD_CAST Could not successfully cast handle to image layer object.

Variable Documentation

◆ DW_MAPS_IMAGE_LAYER_ID_LIDAR_ELEVATION_MODEL

const char* const DW_MAPS_IMAGE_LAYER_ID_LIDAR_ELEVATION_MODEL

◆ DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE

const char* const DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE

◆ DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE_RAW

const char* const DW_MAPS_IMAGE_LAYER_ID_LIDAR_GIRAFFE_PLANE_RAW

◆ DW_MAPS_IMAGE_LAYER_ID_LIDAR_GROUND_REFLECTANCE

const char* const DW_MAPS_IMAGE_LAYER_ID_LIDAR_GROUND_REFLECTANCE

System-defined image layer identifiers.

These provide a consistent data contract for map consumers.

◆ DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS

const char* const DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS

◆ DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RAW

const char* const DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RAW

◆ DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RCS

const char* const DW_MAPS_IMAGE_LAYER_ID_RADAR_DETECTIONS_RCS