Hi!
I wonder whether it would be possible to have rviz display the occupancy
values
of the nav_msgs/OccupancyGrid message as probabilities instead of the
current
ternary representation as occupied/free/unknown.
I think this decision is due to the fact that the costmap_2d package
uses the same
ternary representation. However, according to the message definition,
the data
field is supposed to store probabilities in the range of [0,100]. Hence,
I think it would
be more consistent and less confusing to have rviz indicate those
probabilities in some way.
I included a small patch which does what I think rviz should do.
Dan
On 12/25/2009 05:08 PM, Clemens Eppner wrote:
> hello,
>
> i am trying to visualize a likelihood field in rviz. but when i use
> nav_msgs/OccupancyGrid rviz only distinguishes between
> occupied/unoccupied/unknown and ignores all other grey values. How can I
> workaround this? Sending a different colored Marker/Cube message for
> every grid map cell would certainly do the trick but may be not very
> efficient.
> What would you recommend?
>
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--- default_plugin/map_display.cpp.orig 2010-11-22 17:56:42.570676865 +0100
+++ default_plugin/map_display.cpp 2010-11-22 18:30:09.779552958 +0100
@@ -275,13 +275,7 @@
for(unsigned int i=0;i<msg->info.width;i++)
{
unsigned char val;
- if(msg->data[j*msg->info.width+i] == 100)
- val = 0;
- else if(msg->data[j*msg->info.width+i] == 0)
- val = 255;
- else
- val = 127;
-
+ val = static_cast<int>( (100 - msg->data[j*msg->info.width+i])*255/100.0);
int pidx = (j*width_ + i);
pixels[pidx] = val;
}
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