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Intermodalics / tango_ros

ROS related software for Tango
Apache License 2.0
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Switching off threshold (question) #386

Open PieterVanB opened 6 years ago

PieterVanB commented 6 years ago

Hello. I'm doing a master's thesis with the Tango on a Lenovo Phab 2 Pro.

However, to get meaningful data out of the Tango using the tango_ros_streamer app, I would need access to occupancy grids that haven't been thresholded yet. Maps of 0-254 values of occupation uncertainty.

Is there any way to switch off thresholding completely? Is there any method I can use to get the occupancy grids before the thresholding happens?

PerrineAguiar commented 6 years ago

Hi @PieterVanB

Unfortunately this is not possible currently. However it does not require a big change in the code, so you can try to change the code and build the app from source. Here are the lines that you would have to change. Be aware that the occupancy grid contains values between [0, 100], while the image we get from Tango contains values between [0, 255]. Here are the instructions to build the app from source. Hope this helps.