map_saver: fix saved raw image being too dark #4712
+1
−1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The map cell value comes from an OccupancyGrid and ranges from -1 to 100. So, it makes no sense to divide this value by 255 when computing the intensity ratio.
| @@ -505,7 +505,7 @@ void tryWriteMapToFile( | |||
| if (map_cell < 0 || 100 < map_cell) { | |||
| q = MaxRGB; | |||
| } else { | |||
| q = map_cell / 255.0 * MaxRGB; | |||
| q = map_cell / 100.0 * MaxRGB; | |||
There was a problem hiding this comment.
Similar to the other PR, the ROS 1 version seems to use 255 (see negate) which has been in use for 10+ years. This seems OK on face value, but I'm a little weary
There was a problem hiding this comment.
Though, the MapMode::Scale seems to agree with you, so I'm leaning towards merging this. Lets continue to chat in the other PR you submitted and we'll handle these as a pair since they seems tied together
Thanks!
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The map cell value comes from an OccupancyGrid and ranges from 0 to
100. Dividing it by 255 makes the output ratio range from 0 to 0.39. This is clearly an error as the output should range from 0 to 1. The consequence is that the output raw image is darker than expected.
Basic Info
Description of contribution in a few bullet points
Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: