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map_saver: fix saved raw image being too dark #4712

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map_saver: fix saved raw image being too dark #4712

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2 changes: 1 addition & 1 deletion nav2_map_server/src/map_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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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

https://github.com/ros-planning/navigation/blob/noetic-devel/map_server/src/image_loader.cpp#L130-L136

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@SteveMacenski SteveMacenski Oct 7, 2024 •
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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!

}
pixel = Magick::Color(q, q, q);
break;
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