RSDK-2939 Update SLAM 2D View Color Buckets #2308
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| [109, 109, 109], | ||
| [95, 95, 95], | ||
| [74, 74, 74], | ||
| [220, 220, 220], |
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How were these numbers generated?
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These were generated using the same https://grayscale.design/app and then tuned based on how they appeared in the UI
JohnN193
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| [109, 109, 109], | ||
| [95, 95, 95], | ||
| [74, 74, 74], | ||
| [220, 220, 220], |
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[nit] might want to stretch the upper bound closer to 255
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+1, i'm curious why we would not want the upper bound to be exactly 255?
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Having the 0-10% range be at 255 would just make it appear white which would make the points invisible as they would blend in with the background.
|
@jeremyrhyde , would you mind posting what this map looks like with our current coloring scheme, both with the old way of parsing cartographer probabilities and the new way? |
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This PR updates the color buckets for the SLAM 2D view based on the new probability values returned by cartographer. The new image and grayscale profile can be seen in the image below.
Below views of both the old dataset/color scheme and the new dataset/color scheme can be found. Note: the old dataset's images appear darker because prior to the probability calculations, all high probability data was being classified as 100. Now it is a gradient, this is also why the walls appear more crisp in the newer dataset
New dataset:
https://user-images.githubusercontent.com/34897732/235763093-b83bb052-380d-4df8-a135-efa4d8d4b8fe.mov
Old dataset:
https://user-images.githubusercontent.com/34897732/235764549-e289fe18-1726-4f62-b1e8-5b41d64584cc.mov
JIRA Ticket: https://viam.atlassian.net/browse/RSDK-2939
Associated PR: viam-modules/viam-cartographer#68