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).
◆ dwConstMapsImageStorageHandle_t
◆ dwMapsImageStorageHandle_t
◆ dwMapsImageStorage_getMapsImage()
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()
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()
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()
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()
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.