From 3c46e8dcbcec0b03d63c595e722d4aecc3386307 Mon Sep 17 00:00:00 2001
From: Antoine Lima <antoine.lima@hds.utc.fr>
Date: Tue, 15 Nov 2022 17:36:45 +0100
Subject: [PATCH] [Grid] Unknown is transparent now
---
src/perceptions_display.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/perceptions_display.cpp b/src/perceptions_display.cpp
index 3ed6666..668641d 100644
--- a/src/perceptions_display.cpp
+++ b/src/perceptions_display.cpp
@@ -237,11 +237,12 @@ void PerceptionsDisplay::processMessage(const multiception::Perceptions::ConstPt
for(size_t i=0; i<gridmapmsg->data[0].data.size(); i++)
{
gridmapmsg->data[0].data[i] = gridmapmsg->data[1].data[i] - gridmapmsg->data[2].data[i];
+ gridmapmsg->data[3].data[i] = (gridmapmsg->data[3].data[i]<0.999) ? gridmapmsg->data[3].data[i] : NAN;
}
gridVisual->setMessage(gridmapmsg);
const float gridAlpha = alpha_property_->getFloat() * grid_alpha_property_->getFloat();
- gridVisual->computeVisualization(gridAlpha, false, false, "o,O", false, false, Ogre::ColourValue(0.8, 0.8, 0.8), false, "", "default", true, false, Ogre::ColourValue(0, 0, 0), Ogre::ColourValue(), false, -1, 1, 0.1, 1);
+ gridVisual->computeVisualization(gridAlpha, false, true, "o,O", false, false, Ogre::ColourValue(0.8, 0.8, 0.8), false, "", "default", true, false, Ogre::ColourValue(0, 0, 0), Ogre::ColourValue(), false, -1, 1, 0.1, 1);
grid_visuals_.push_back(gridVisual);
}
--
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