Better map generation algorithm. Update README.

Hypfer · Feb 16, 2021 · 54cc0d9 · 54cc0d9
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diff --git a/README.md b/README.md
@@ -1,19 +1,33 @@
 <div align="center">
+
     <a href="https://github.com/Hypfer/Valetudo">
         <img src="https://github.com/Hypfer/Valetudo/blob/master/assets/logo/valetudo_logo_with_name.svg" width="800" alt="valetudo">
     </a>
     <p align="center"><h2>I can't belive it's not Valetudo</h2></p>
+
 </div>
 
 This is a simple map generation companion service for
 [Valetudo](https://github.com/Hypfer/Valetudo) which does all the heavy
 lifting.
-Since both CPU and Memory are limited on the robot, PNG generation for
+Since both CPU and memory are limited on the robot, PNG generation for
 third-party components has been moved here. The service receives raw map
 data from the robot via MQTT, renders a map and publishes the resulting
-PNG image via MQTT and/or makes it available via a built-in web server.
+PNG image via MQTT.
+
+## Changes from upstream
+
+Compared to [upstream](https://github.com/Hypfer/ICantBelieveItsNotValetudo/), this fork:
 
-Since I have no use for this service, this is only maintained on a very basic level.
+* greatly optimizes the algorithm generating the map
+  + On the same hardware, with a scale factor of 2, it can compute the map in *~400ms* versus *~14000ms* (**~35x speedup**).
+* avoids unnecessary computations, caching full maps and map layers
+* supports map compression
+* supports base-64 encoded maps
+* removes support for old binary maps, supporting Valetudo 2021.01.1+ only
+* removes the webserver
+* removes support for overlay/underlay images
+* removes support for manual cropping.
 
 Feel free to open PRs with improvements.
 
@@ -28,20 +42,21 @@ If you prefer running services in containers, this repository includes
 a dockerfile for you.
 
 ## Configuration
+
 To configure *I can't belive it's not Valetudo*, create a file called
 `config.json` in the working directory. You can also run `npm start` to
 automatically create a default configuration file. If you are running in
-docker, map the configuration file to `/app/config.json`.
+docker, map the configuration file to `/app/config.json` .
 
 A basic example configuration would look like this:
 
-```json
+``` json
 {
     "mapSettings": {
         "drawPath": true,
         "drawCharger": true,
         "drawRobot": true,
-        "scale": 4
+        "scale": 2
     },
     "mqtt" : {
         "identifier": "rockrobo",
@@ -52,87 +67,49 @@ A basic example configuration would look like this:
         "mapDataTopic": "valetudo/rockrobo/map_data",
         "minMillisecondsBetweenMapUpdates": 10000,
         "publishMapImage": true
-    },
-    "webserver": {
-        "enabled": false,
-        "port": 3000
     }
 }
 ```
 
-## Integration with FHEM, ioBroker, etc
-If you set `webserver.enabled` to `true`, the map PNG will be available
-at `http://host:port/api/map/image` so you can display a map with any
-home automation software that allows fetching images from a URL.
-By default, the image data is published via MQTT to the topic set in
-`mqtt.mapDataTopic`.
-
 ## Advanced Map Configuration
+
 The appearance of the map is configured by the `mapSettings`
+
 object. The default settings already produce a nice map, but you can 
 use these advanced settings to further customize the map for better
 integration into your home automation.
 
-### Cropping
-The map data received from the robot may contain lots of empty pixels
-surrounding the area of interest.
-To avoid huge margins in the output image, the raw data is auto-cropped.
-
-If you don't want that you can either disable it with `autoCrop: false` or define a custom crop region:
-
-The crop region is defined by the top left corner (`crop_x1` and
-`crop_y1`) and the bottom right corner (`crop_x2` and `crop_y2`)
-coordinates of a rectangle.
-A `200px x 100px` crop region with the top left corner at
-`(50px, 50px)` may thus be defined as (other settings omitted for
-brevity):
-
-```json
-{
-    "mapSettings": {
-        "crop_x1": 50,
-        "crop_y1": 50,
-        "crop_x2": 250,
-        "crop_y2": 150
-    },
-    "mqtt" : {
-    },
-    "webserver": {
-    }
-}
-```
-
 ### Scaling
+
 Since the map data has a resolution of approximately 5 cm per pixel, the
 resulting images have a relatively low resolution. The map is therefore
-scaled up by a factor of 4 by default. The scaling factor can be
+scaled up by a factor of 2 by default. The scaling factor can be
 configured by setting `mapSettings.scale` to the desired value.
 
 To avoid blurred edges, the scaling is done with nearest-neighbor
 interpolation.
 
 ### Rotating
+
 Rotating the map can be achieved by setting the `mapSettings.rotate` to the desired value.
 
 ### Colors
+
 The map is rendered using a blueish color map by default. The colors
 of the floor, hard and weak obstacles as well as the robot's path can
 be set via the `mapSettings.colors` object, e.g. (other settings
 omitted for brevity):
 
-```json
+``` json
 {
     "mapSettings": {
         "colors": {
             "floor": "transparent",
-            "obstacle_weak": "rgba(0,0,0,0.1)",
-            "obstacle_strong": "hsl(120, 20%, 50%)",
+            "obstacle": "hsl(120, 20%, 50%)",
             "path": "#333333"
         }
     },
     "mqtt" : {
-    },
-    "webserver": {
     }
 }
 ```
@@ -142,68 +119,23 @@ All valid
 are accepted.
 
 #### New Map Colors
+
 You can now set colors for the new Valetudo Maps too - however - only hex values are supported. If you need to set the opacity you can do so using [8 digit hex code](https://gist.github.com/lopspower/03fb1cc0ac9f32ef38f4).
 Since new Valetudo maps are using segments, new field in config has been added (other settings omitted for brevity):
-```json
+
+``` json
 {
+
     "mapSettings": {
         "colors": {
             "floor": "#0000FF",
-            "obstacle_strong": "#33333380",
+            "obstacle": "#33333380",
             "segments": ["#000000", "FF0000", "00FF00", "0000FF"],
             "path": "#FFFFFF"
         }
     },
     "mqtt" : {
-    },
-    "webserver": {
-    }
-}
-``` 
-
-### Overlay and Underlay Images
-The map can be further customized by adding overlay and underlay images.
-This could be a floor plan showing the real walls or some fancy
-background image. The images have to be in BMP, GIF, JPEG, PNG or TIFF
-format and can be scaled as well as positioned relatively to the map.
-A simple example for a background image would be (other settings omitted
-for brevity):
-
-```json
-{
-    "mapSettings": {
-        "underlay_path": "/absolute/path/to/background_image.png",
-        "underlay_scale": 1,
-        "underlay_x": 0,
-        "underlay_y": 0
-    },
-    "mqtt" : {
-    },
-    "webserver": {
     }
-}
-```
 
-And, similarly for a overlay image (other settings omitted for brevity): 
-
-```json
-{
-    "mapSettings": {
-        "overlay_path": "/absolute/path/to/overlay_image.png",
-        "overlay_scale": 1,
-        "overlay_x": 0,
-        "overlay_y": 0
-    },
-    "mqtt" : {
-    },
-    "webserver": {
-    }
 }
 ```
-
-You probably have to try out various scaling and positioning values
-before you find a good match between a floor plan and the map generated
-by the robot.
-
-**Note:** Overlay and underlay images are applied *after* rendering and
-scaling the map data.
diff --git a/app.js b/app.js
@@ -1,12 +1,9 @@
 const Configuration = require("./lib/Configuration");
 const MqttClient = require("./lib/MqttClient");
-const WebServer = require("./lib/Webserver");
-const EventEmitter = require('events');
 
 const conf = new Configuration();
-const events = new EventEmitter();
 
-if(conf.get("mqtt")) {
+if (conf.get("mqtt")) {
     new MqttClient({
         brokerURL: conf.get("mqtt").broker_url,
         caPath: conf.get("mqtt").caPath,
@@ -16,15 +13,8 @@ if(conf.get("mqtt")) {
         mapSettings: conf.get("mapSettings"),
         mapDataTopic: conf.get("mqtt").mapDataTopic,
         minMillisecondsBetweenMapUpdates: conf.get("mqtt").minMillisecondsBetweenMapUpdates,
-        publishMapImage: conf.get("mqtt").publishMapImage,
-        events: events
+        publishMapImage: conf.get("mqtt").publishMapImage
     });
-    if(conf.get("webserver") && conf.get("webserver").enabled === true) {
-        new WebServer({
-            port: conf.get("webserver").port,
-            events: events
-        })
-    }
 } else {
-    console.error("Missing configuration.mqtt");
+    console.error("Missing configuration.mqtt!");
 }
diff --git a/assets/img/charger.png b/assets/img/charger.png
diff --git a/assets/img/robot.png b/assets/img/robot.png