Render map at 256x256 and don't crop (#28101)

old-commit-hash: 861e18a1a8

selfdrive/navd/map_renderer.cc

@@ -11,7 +11,7 @@
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 
 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 512, WIDTH = 512;
+const int HEIGHT = 256, WIDTH = 256;
 const int NUM_VIPC_BUFFERS = 4;
 
 const int EARTH_CIRCUMFERENCE_METERS = 40075000;
@@ -177,12 +177,10 @@ void MapRenderer::publish(const double render_time) {
   uint8_t* dst = (uint8_t*)buf->addr;
   uint8_t* src = cap.bits();
 
-  // RGB to greyscale and crop
+  // RGB to greyscale
   memset(dst, 128, buf->len);
-  for (int r = 0; r < HEIGHT/2; r++) {
-    for (int c = 0; c < WIDTH/2; c++) {
-      dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3];
-    }
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
   }
 
   vipc_server->send(buf, &extra);

selfdrive/navd/map_renderer.py

@@ -10,7 +10,7 @@ from cffi import FFI
 from common.ffi_wrapper import suffix
 from common.basedir import BASEDIR
 
-HEIGHT = WIDTH = SIZE = 512
+HEIGHT = WIDTH = SIZE = 256
 METERS_PER_PIXEL = 2