noxhirsch
commented
5 years ago I made some changes to the Tools.js file. With this you can define a cropfactor in your config.json (see below).
Tool.js:
const fs = require("fs");
const path = require("path");
const Jimp = require("jimp");
const chargerImagePath = path.join(__dirname, '../assets/img/charger.png');
const robotImagePath = path.join(__dirname, '../assets/img/robot.png');
const Tools = {
DIMENSION_PIXELS: 1024,
DIMENSION_MM: 50 * 1024,
MK_DIR_PATH: function (filepath) {
var dirname = path.dirname(filepath);
if (!fs.existsSync(dirname)) {
Tools.MK_DIR_PATH(dirname);
}
if (!fs.existsSync(filepath)) {
fs.mkdirSync(filepath);
}
},
/**
*
* @param options {object}
* @param options.parsedMapData
* @param options.settings
* @param callback {function}
* @constructor
*/
DRAW_MAP_PNG: function (options, callback) {
const COLORS = {
floor: Jimp.rgbaToInt(0, 118, 255, 255),
obstacle_weak: Jimp.rgbaToInt(102, 153, 255, 255),
obstacle_strong: Jimp.rgbaToInt(82, 174, 255, 255),
path: Jimp.rgbaToInt(255, 255, 255, 255)
};
const settings = Object.assign({
drawPath: true,
drawCharger: true,
drawRobot: true,
border: 2,
scale: 4
}, options.settings);
const DIMENSIONS = {
width: settings.crop_x2-settings.crop_x1, //options.parsedMapData.image.dimensions.width,
height: settings.crop_y2-settings.crop_y1 //options.parsedMapData.image.dimensions.height
};
new Jimp(DIMENSIONS.width, DIMENSIONS.height, function (err, image) {
if (!err) {
//Step 1: Draw Map + calculate viewport
Object.keys(options.parsedMapData.image.pixels).forEach(key => {
const color = COLORS[key];
options.parsedMapData.image.pixels[key].forEach(function drawPixel(px) {
if(px[0]>= settings.crop_x1 && px[0]<= settings.crop_x2 && px[1]>= settings.crop_y1 && px[1]<= settings.crop_y2 ){
image.setPixelColor(color, px[0]-settings.crop_x1, px[1]-settings.crop_y1);
}
})
});
//Step 2: Scale
image.scale(settings.scale, Jimp.RESIZE_NEAREST_NEIGHBOR);
//Step 3: Draw Path
const coords = options.parsedMapData.path.points.map(point => {
return [
Math.floor((point[0]/50 - options.parsedMapData.image.position.left - settings.crop_x1) * settings.scale),
Math.floor((point[1]/50 - options.parsedMapData.image.position.top - settings.crop_y1) * settings.scale)
]});
let first = true;
let oldPathX, oldPathY; // old Coordinates
let dx, dy; //delta x and y
let step, x, y, i;
coords.forEach(function (coord) {
if (!first && settings.drawPath) {
dx = (coord[0] - oldPathX);
dy = (coord[1] - oldPathY);
if (Math.abs(dx) >= Math.abs(dy)) {
step = Math.abs(dx);
} else {
step = Math.abs(dy);
}
dx = dx / step;
dy = dy / step;
x = oldPathX;
y = oldPathY;
i = 1;
while (i <= step) {
image.setPixelColor(COLORS.path, x, y);
x = x + dx;
y = y + dy;
i = i + 1;
}
}
oldPathX = coord[0];
oldPathY = coord[1];
first = false;
});
Jimp.read(chargerImagePath, function (err, chargerImage) {
if (!err) {
Jimp.read(robotImagePath, function (err, robotImage) {
if (!err) {
//Step 6: Draw Charger
if (settings.drawCharger === true && options.parsedMapData.charger) {
const chargerCoords = {
x: options.parsedMapData.charger[0] / 50 - options.parsedMapData.image.position.left - settings.crop_x1,
y: options.parsedMapData.charger[1] / 50 - options.parsedMapData.image.position.top - settings.crop_y1
};
image.composite(
chargerImage,
chargerCoords.x * settings.scale - chargerImage.bitmap.width / 2,
chargerCoords.y * settings.scale - chargerImage.bitmap.height / 2
);
}
//Step 7: Draw Robot
if (settings.drawRobot === true && options.parsedMapData.robot) {
const robotCoords = {
x: options.parsedMapData.robot[0] / 50 - options.parsedMapData.image.position.left - settings.crop_x1,
y: options.parsedMapData.robot[1] / 50 - options.parsedMapData.image.position.top - settings.crop_y1
};
image.composite(
robotImage.rotate(-1 * options.parsedMapData.path.current_angle-90),
robotCoords.x * settings.scale - robotImage.bitmap.width / 2,
robotCoords.y * settings.scale - robotImage.bitmap.height / 2
)
}
image.getBuffer(Jimp.AUTO, callback);
} else {
callback(err);
}
})
} else {
callback(err);
}
});
} else {
callback(err);
}
});
}
};
module.exports = Tools;config.json:
"mapSettings": {
"drawPath": true,
"drawCharger": true,
"drawRobot": true,
"border": 1,
"scale": 4,
"crop_x1": 100,
"crop_x2": 240,
"crop_y1": 90,
"crop_y2": 365
},Keep in mind that these values aren't the same values as used by the zones coordinates. Just use trial and error to find them. In my case I had to reboot the docker container to see the changes.
alexkn
On my map a few pixels are generated outside my apartment. Probably because the laser is reflected somewhere. Is there a way to crop the map to certain coordinates?