cyphy_people_mapping:people_tracker/trajectory_clustering/map_creation

Installation

In order for the nodes to render properly you must have a version of rviz where the map_display plugin supports continuous values. Later versions of rviz have this.

Otherwise, you'll need to edit the file map_display.cpp in .../rviz/src/rviz/default_plugin directory. Scroll down to approximately line 314 and look for the code

  for( unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; pixel_index++ )
  {
    unsigned char val;
    if(msg->data[ pixel_index ] == 100)
        val = 0;
    else if(msg->data[ pixel_index ] == 0)
        val = 255;
    else
        pixels[ pixel_index ] = val;
  }

create an overlay of rviz in your own workspace, and replace the above code with

  for( unsigned int pixel_index = 0; pixel_index < num_pixels_to_copy; pixel_index++ )
  {
    unsigned char val;

    if(msg->data[ pixel_index] == -1)
        val = 127;
    else
        val = (100 - msg->data[ pixel_index ])/100*255 ;

    pixels[ pixel_index ] = val;
  }

Running the node

rosrun map_creation map_creation