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map_renderer.py, output monochrome images (#25272)

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* map renderer, output monochrome images

* pass token/url as argument

* greyscale
This commit is contained in:
Willem Melching
2022-07-25 16:20:52 +02:00
committed by GitHub
parent ef00bf76c1
commit f72c988415
2 changed files with 17 additions and 12 deletions
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selfdrive/navd/map_renderer.cc
+11 -6
View File
@@ -153,10 +153,15 @@ void MapRenderer::sendVipc() {
uint8_t* MapRenderer::getImage() {
QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
uint8_t* buf = new uint8_t[cap.sizeInBytes()];
memcpy(buf, cap.bits(), cap.sizeInBytes());
return buf;
uint8_t* src = cap.bits();
uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
for (int i = 0; i < WIDTH * HEIGHT; i++) {
dst[i] = src[i * 3];
}
return dst;
}
void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
@@ -189,7 +194,7 @@ MapRenderer::~MapRenderer() {
}
extern "C" {
MapRenderer* map_renderer_init() {
MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
char *argv[] = {
(char*)"navd",
nullptr
@@ -199,8 +204,8 @@ extern "C" {
assert(app);
QMapboxGLSettings settings;
settings.setApiBaseUrl(MAPS_HOST);
settings.setAccessToken(get_mapbox_token());
settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
settings.setAccessToken(token == nullptr ? get_mapbox_token() : token);
return new MapRenderer(settings, false);
}
selfdrive/navd/map_renderer.py
+6 -6
View File
@@ -3,6 +3,7 @@
import os
import time
import numpy as np
from cffi import FFI
from common.ffi_wrapper import suffix
@@ -16,7 +17,7 @@ def get_ffi():
ffi = FFI()
ffi.cdef("""
void* map_renderer_init();
void* map_renderer_init(char *maps_host, char *token);
void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
void map_renderer_update_route(void *inst, char *polyline);
void map_renderer_update(void *inst);
@@ -40,20 +41,19 @@ def wait_ready(lib, renderer):
def get_image(lib, renderer):
buf = lib.map_renderer_get_image(renderer)
r = list(buf[0:3 * WIDTH * HEIGHT])
r = list(buf[0:WIDTH * HEIGHT])
lib.map_renderer_free_image(renderer, buf)
# Convert to numpy
r = np.asarray(r)
return r.reshape((WIDTH, HEIGHT, 3))
return r.reshape((WIDTH, HEIGHT))
if __name__ == "__main__":
import matplotlib.pyplot as plt
import numpy as np
ffi, lib = get_ffi()
renderer = lib.map_renderer_init()
renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
wait_ready(lib, renderer)
geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
@@ -73,6 +73,6 @@ if __name__ == "__main__":
print(f"{pos} took {time.time() - t:.2f} s")
plt.subplot(2, 2, i + 1)
plt.imshow(get_image(lib, renderer))
plt.imshow(get_image(lib, renderer), cmap='gray')
plt.show()