From 11d73c5960f3c12d730145bdd1b1b9e2e0c552d5 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 25 Jul 2022 16:20:52 +0200
Subject: [PATCH] map_renderer.py, output monochrome images (#25272)

* map renderer, output monochrome images

* pass token/url as argument

* greyscale
old-commit-hash: f72c988415a2a1c4299df67cb8e02eee20e5ba77
---
 selfdrive/navd/map_renderer.cc | 17 +++++++++++------
 selfdrive/navd/map_renderer.py | 12 ++++++------
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index cb24f2087e..d0770cfb48 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -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);
   }
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index dc39f335c7..9000622928 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -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()