Maps Image Storage

Detailed Description

2D map representation in top-down view.

Note

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

Ground plane images store different image representations derived by planar projection from 3D map data. This includes height slices, intensity textures, DEMs derived from LiDAR point clouds, as well as planar projections of map features derived from cameras (such as road markings, poles, signs, etc. detected by MapNet).

Typedefs
typedef struct dwMapsImageStorageObject const *	dwConstMapsImageStorageHandle_t
typedef struct dwMapsImageStorageObject *	dwMapsImageStorageHandle_t

Functions
DW_API_PUBLIC dwStatus	dwMapsImageStorage_getMapsImage (dwMapsImage *image, const dwMapsRoadSegmentId *roadSegmentId, dwMapsImageStorageHandle_t imageStorageHandle)
	Gets maps image from maps image storage for a specific road segment ID. More...
DW_API_PUBLIC dwStatus	dwMapsImageStorage_getProperties (dwImageProperties *imageProperties, dwMapsImageStorageHandle_t imageStorageHandle)
	Retrieves image properties of the maps image associated with the image storage. More...
DW_API_PUBLIC dwStatus	dwMapsImageStorage_initialize (dwMapsImageStorageHandle_t *imageStorageHandle, dwMapProviderHandle_t providerHandle, dwConstMapsContentLayerHandle_t imageLayer, dwContextHandle_t contextHandle)
	Creates a maps image storage, which efficiently loads and serves image representations of map segments. More...
DW_API_PUBLIC dwStatus	dwMapsImageStorage_release (dwMapsImageStorageHandle_t imageStorageHandle)
	Releases maps image storage handle. More...
DW_API_PUBLIC dwStatus	dwMapsImageStorage_returnMapsImage (dwMapsImage *image, dwMapsImageStorageHandle_t imageStorageHandle)
	Releases maps image so that memory can be reused. More...

Typedef Documentation

dwConstMapsImageStorageHandle_t

typedef struct dwMapsImageStorageObject const* dwConstMapsImageStorageHandle_t

Definition at line 241 of file ImageLayer.h.

dwMapsImageStorageHandle_t

typedef struct dwMapsImageStorageObject* dwMapsImageStorageHandle_t

Definition at line 240 of file ImageLayer.h.

Function Documentation

dwMapsImageStorage_getMapsImage()

DW_API_PUBLIC dwStatus dwMapsImageStorage_getMapsImage	(	dwMapsImage *	image,
		const dwMapsRoadSegmentId *	roadSegmentId,
		dwMapsImageStorageHandle_t	imageStorageHandle
	)

Gets maps image from maps image storage for a specific road segment ID.

Parameters

[out]	image	maps image structure with data
[in]	roadSegmentId	road segment Id for which image should be loaded
[in]	imageStorageHandle	maps image storage handle to use

Returns

DW_SUCCESS Successfully retrieved maps image frorm storage.
DW_INVALID_ARGUMENT mapsImage, roadSegmentId or mapsImageStorageHandle is nullptr.
DW_NOT_AVAILABLE maps image is not available for this road segment ID.
DW_BAD_CAST Could not successfully cast handle to maps image storage object.

dwMapsImageStorage_getProperties()

DW_API_PUBLIC dwStatus dwMapsImageStorage_getProperties	(	dwImageProperties *	imageProperties,
		dwMapsImageStorageHandle_t	imageStorageHandle
	)

Retrieves image properties of the maps image associated with the image storage.

Parameters

[out]	imageProperties	image properties of maps image
[in]	imageStorageHandle	maps image storage handle to use

Returns

DW_SUCCESS Successfully retrieved image properties.
DW_INVALID_ARGUMENT imageProperties or mapsImageStorageHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to maps image storage object.

dwMapsImageStorage_initialize()

DW_API_PUBLIC dwStatus dwMapsImageStorage_initialize	(	dwMapsImageStorageHandle_t *	imageStorageHandle,
		dwMapProviderHandle_t	providerHandle,
		dwConstMapsContentLayerHandle_t	imageLayer,
		dwContextHandle_t	contextHandle
	)

Creates a maps image storage, which efficiently loads and serves image representations of map segments.

Each different image representation requires its own storage object.

Parameters

[out]	imageStorageHandle	maps image storage handle to be initialized
[in]	providerHandle	provider handle to be source of desired layer
[in]	imageLayer	desired image layer handle
[in]	contextHandle	context Handle to the current driveworks context.

Returns

DW_SUCCESS mapsImageStorageHandle is successfully initialized.
DW_INVALID_ARGUMENT layerDirectory or contextHandle is nullptr.
DW_FAILURE Map does not support image data or allocation failure

dwMapsImageStorage_release()

DW_API_PUBLIC dwStatus dwMapsImageStorage_release

(

dwMapsImageStorageHandle_t

imageStorageHandle

)

Releases maps image storage handle.

Parameters

[in]

imageStorageHandle

maps image storage handle to be released

Returns

DW_SUCCESS Successfully released maps image storage object and handle.
DW_INVALID_ARGUMENT mapsImageStorageHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to maps image storage object.

dwMapsImageStorage_returnMapsImage()

DW_API_PUBLIC dwStatus dwMapsImageStorage_returnMapsImage	(	dwMapsImage *	image,
		dwMapsImageStorageHandle_t	imageStorageHandle
	)

Releases maps image so that memory can be reused.

Parameters

[in,out]	image	maps image to clean up
[in]	imageStorageHandle	maps image storage handle to use

Returns

DW_SUCCESS Successfully cleaned up maps image.
DW_INVALID_ARGUMENT mapsImage or mapsImageStorageHandle is nullptr.
DW_BAD_CAST Could not successfully cast handle to maps image storage object.