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 dwMapsLaneChannelLayerViewObject const *	dwConstMapsLaneChannelLayerViewHandle_t

typedef struct dwMapsLaneDividerLayerViewObject const *	dwConstMapsLaneDividerLayerViewHandle_t

typedef struct dwMapsPointCloudLayerViewObject const *	dwConstMapsPointCloudLayerViewHandle_t

typedef struct dwMapsPoleLayerViewObject const *	dwConstMapsPoleLayerViewHandle_t

typedef struct dwMapsRoadMarkingLayerViewObject const *	dwConstMapsRoadMarkingLayerViewHandle_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, size_t memoryInBytes, 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, dwConstMapsContentLayerHandle_t junctionLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of a junction layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializeLaneChannelLayerView (dwConstMapsLaneChannelLayerViewHandle_t *laneChannelLayerViewHandle, dwConstMapsContentLayerHandle_t laneChannelLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of the lane channel layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializeLaneDividerLayerView (dwConstMapsLaneDividerLayerViewHandle_t *laneDividerLayerViewHandle, dwConstMapsContentLayerHandle_t laneDividerLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of the lane divider 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_initializePoleLayerView (dwConstMapsPoleLayerViewHandle_t *poleLayerViewHandle, dwConstMapsContentLayerHandle_t poleLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of the pole layer in the content slice. More...

DW_API_PUBLIC dwStatus	dwMapsContentSlice_initializeRoadMarkingLayerView (dwConstMapsRoadMarkingLayerViewHandle_t *roadMarkingLayerViewHandle, dwConstMapsContentLayerHandle_t roadMarkingLayerHandle, dwMapsContentSliceHandle_t contentSliceHandle)
	Create a local view of the road marking 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 166 of file ContentLayers.h.

◆ dwConstMapsImageLayerViewHandle_t

typedef struct dwMapsImageLayerViewObject const* dwConstMapsImageLayerViewHandle_t

Definition at line 192 of file ContentLayers.h.

◆ dwConstMapsLaneChannelLayerViewHandle_t

typedef struct dwMapsLaneChannelLayerViewObject const* dwConstMapsLaneChannelLayerViewHandle_t

Definition at line 196 of file ContentLayers.h.

◆ dwConstMapsLaneDividerLayerViewHandle_t

typedef struct dwMapsLaneDividerLayerViewObject const* dwConstMapsLaneDividerLayerViewHandle_t

Definition at line 195 of file ContentLayers.h.

◆ dwConstMapsPointCloudLayerViewHandle_t

typedef struct dwMapsPointCloudLayerViewObject const* dwConstMapsPointCloudLayerViewHandle_t

Definition at line 193 of file ContentLayers.h.

◆ dwConstMapsPoleLayerViewHandle_t

typedef struct dwMapsPoleLayerViewObject const* dwConstMapsPoleLayerViewHandle_t

Definition at line 198 of file ContentLayers.h.

◆ dwConstMapsRoadMarkingLayerViewHandle_t

typedef struct dwMapsRoadMarkingLayerViewObject const* dwConstMapsRoadMarkingLayerViewHandle_t

Definition at line 197 of file ContentLayers.h.

◆ dwMapsContentSliceHandle_t

typedef struct dwMapsContentSliceObject* dwMapsContentSliceHandle_t

Definition at line 165 of file ContentLayers.h.

◆ dwMapsContentUpdateToken

typedef uint64_t dwMapsContentUpdateToken

Token for completion of a content slice update.

Definition at line 190 of file ContentLayers.h.

◆ dwMapsJunctionLayerViewHandle_t

typedef struct dwMapsJunctionLayerViewObject* dwMapsJunctionLayerViewHandle_t

Definition at line 194 of file ContentLayers.h.

Function Documentation

◆ dwMapsContentSlice_initialize()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initialize	(	dwMapsContentSliceHandle_t *	contentSliceHandle,
		size_t	memoryInBytes,
		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]	memoryInBytes	Memory in bytes needed for view layers
[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,
		dwConstMapsContentLayerHandle_t	junctionLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

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

Parameters

[out]	junctionLayerViewHandle	The junction layer 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_initializeLaneChannelLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializeLaneChannelLayerView	(	dwConstMapsLaneChannelLayerViewHandle_t *	laneChannelLayerViewHandle,
		dwConstMapsContentLayerHandle_t	laneChannelLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Create a local view of the lane channel layer in the content slice.

Parameters

[out]	laneChannelLayerViewHandle	The channel layer view
[in]	laneChannelLayerHandle	The channel layer handle
[in]	contentSliceHandle	The content slice handle

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

◆ dwMapsContentSlice_initializeLaneDividerLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializeLaneDividerLayerView	(	dwConstMapsLaneDividerLayerViewHandle_t *	laneDividerLayerViewHandle,
		dwConstMapsContentLayerHandle_t	laneDividerLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Create a local view of the lane divider layer in the content slice.

Parameters

[out]	laneDividerLayerViewHandle	The divider layer view
[in]	laneDividerLayerHandle	The divider layer handle
[in]	contentSliceHandle	The content slice handle

Returns: DW_SUCCESS Successfully obtained laneDividerLayerViewHandle
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_initializePoleLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializePoleLayerView	(	dwConstMapsPoleLayerViewHandle_t *	poleLayerViewHandle,
		dwConstMapsContentLayerHandle_t	poleLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

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

Parameters

[out]	poleLayerViewHandle	The pole layer view
[in]	poleLayerHandle	The pole layer handle
[in]	contentSliceHandle	The content slice handle

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

◆ dwMapsContentSlice_initializeRoadMarkingLayerView()

DW_API_PUBLIC dwStatus dwMapsContentSlice_initializeRoadMarkingLayerView	(	dwConstMapsRoadMarkingLayerViewHandle_t *	roadMarkingLayerViewHandle,
		dwConstMapsContentLayerHandle_t	roadMarkingLayerHandle,
		dwMapsContentSliceHandle_t	contentSliceHandle
	)

Create a local view of the road marking layer in the content slice.

Parameters

[out]	roadMarkingLayerViewHandle	The road marking layer view
[in]	roadMarkingLayerHandle	The road marking layer handle
[in]	contentSliceHandle	The content slice handle

Returns: DW_SUCCESS Successfully obtained roadMarkingLayerViewHandle
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

◆ dwConstMapsLaneChannelLayerViewHandle_t

◆ dwConstMapsLaneDividerLayerViewHandle_t

◆ dwConstMapsPointCloudLayerViewHandle_t

◆ dwConstMapsPoleLayerViewHandle_t

◆ dwConstMapsRoadMarkingLayerViewHandle_t

◆ dwMapsContentSliceHandle_t

◆ dwMapsContentUpdateToken

◆ dwMapsJunctionLayerViewHandle_t

Function Documentation

◆ dwMapsContentSlice_initialize()

◆ dwMapsContentSlice_initializeImageLayerView()

◆ dwMapsContentSlice_initializeJunctionLayerView()

◆ dwMapsContentSlice_initializeLaneChannelLayerView()

◆ dwMapsContentSlice_initializeLaneDividerLayerView()

◆ dwMapsContentSlice_initializePointCloudLayerView()

◆ dwMapsContentSlice_initializePoleLayerView()

◆ dwMapsContentSlice_initializeRoadMarkingLayerView()

◆ dwMapsContentSlice_release()

◆ dwMapsContentSlice_tryCompleteUpdate()

◆ dwMapsContentSlice_updateAsync()