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Intermodalics / tango_ros

ROS related software for Tango
Apache License 2.0
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Feature/use space layer with threshold for occupancy grid #335

Closed PerrineAguiar closed 7 years ago

PerrineAguiar commented 7 years ago

This PR changes the code to make the occupancy grid from the space layer instead of the obstacle layer. This produces navigation map with less "fake points". Moreover, since the space layer is not binarized, it adds a threshold parameter to decide if a pixel value corresponds to a free or occupied cell.

Before this PR: image

After this PR (threshold = 128): image

After this PR (threshold = 110): image

After this PR (threshold = 70): image

PerrineAguiar commented 7 years ago

@smits Thanks for your review, I addressed your comments.

PerrineAguiar commented 7 years ago

@smits Thanks, I addressed your comments.

PerrineAguiar commented 7 years ago

@smits I addressed your last comment.