{"action":"created","issue":{"url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/10","labels_url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/10/labels{/name}","comments_url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/10/comments","events_url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/10/events","html_url":"https://github.com/ros-perception/openslam_gmapping/pull/10","id":97643331,"number":10,"title":"Bugfix: correctly calculating free cell","user":{"login":"dabarsch","id":12881978,"avatar_url":"https://avatars.githubusercontent.com/u/12881978?v=3","gravatar_id":"","url":"https://api.github.com/users/dabarsch","html_url":"https://github.com/dabarsch","followers_url":"https://api.github.com/users/dabarsch/followers","following_url":"https://api.github.com/users/dabarsch/following{/other_user}","gists_url":"https://api.github.com/users/dabarsch/gists{/gist_id}","starred_url":"https://api.github.com/users/dabarsch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dabarsch/subscriptions","organizations_url":"https://api.github.com/users/dabarsch/orgs","repos_url":"https://api.github.com/users/dabarsch/repos","events_url":"https://api.github.com/users/dabarsch/events{/privacy}","received_events_url":"https://api.github.com/users/dabarsch/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-07-28T08:19:38Z","updated_at":"2015-08-04T22:16:32Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-perception/openslam_gmapping/pulls/10","html_url":"https://github.com/ros-perception/openslam_gmapping/pull/10","diff_url":"https://github.com/ros-perception/openslam_gmapping/pull/10.diff","patch_url":"https://github.com/ros-perception/openslam_gmapping/pull/10.patch"},"body":"The free cell is calculated somewhere off the map. Since unvisited cells return -1 which is lower than the fullness threshold it wasn't dramatically influencing the scoring. Moreover in icpStep and score the factor map.getDelta() was multiplied twice."},"comment":{"url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/comments/127777779","html_url":"https://github.com/ros-perception/openslam_gmapping/pull/10#issuecomment-127777779","issue_url":"https://api.github.com/repos/ros-perception/openslam_gmapping/issues/10","id":127777779,"user":{"login":"vrabaud","id":700766,"avatar_url":"https://avatars.githubusercontent.com/u/700766?v=3","gravatar_id":"","url":"https://api.github.com/users/vrabaud","html_url":"https://github.com/vrabaud","followers_url":"https://api.github.com/users/vrabaud/followers","following_url":"https://api.github.com/users/vrabaud/following{/other_user}","gists_url":"https://api.github.com/users/vrabaud/gists{/gist_id}","starred_url":"https://api.github.com/users/vrabaud/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/vrabaud/subscriptions","organizations_url":"https://api.github.com/users/vrabaud/orgs","repos_url":"https://api.github.com/users/vrabaud/repos","events_url":"https://api.github.com/users/vrabaud/events{/privacy}","received_events_url":"https://api.github.com/users/vrabaud/received_events","type":"User","site_admin":false},"created_at":"2015-08-04T22:16:32Z","updated_at":"2015-08-04T22:16:32Z","body":"@mikeferguson , I am trying to quantify the changes: would the entropy be the right measure to look at on some datasets ?"}}