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I've manually edited maps using GIMP and had great success with keeping planners from making paths through unwanted areas. I used black instead of gray as that corresponds to "very" occupied. From the wiki:

When comparing to the threshold parameters, the occupancy probability of an image pixel is computed as follows: occ = (255 - color_avg) / 255.0, where color_avg is the 8-bit value that results from averaging over all channels, e.g. if the image is 24-bit color, a pixel with the color 0x0a0a0a has a probability of 0.96, which is very occupied. The color 0xeeeeee yields 0.07, which is very unoccupied.

As black is 0x000000 it should yield 100% (or very) occupied. Gray may not result in an area being considered occupied.

I've manually edited maps using GIMP and had great success with keeping planners from making paths through unwanted areas. I used black instead of gray as that corresponds to "very" occupied. From the wiki:

When comparing to the threshold parameters, the occupancy probability of an image pixel is computed as follows: occ = (255 - color_avg) / 255.0, where color_avg is the 8-bit value that results from averaging over all channels, e.g. if the image is 24-bit color, a pixel with the color 0x0a0a0a has a probability of 0.96, which is very occupied. The color 0xeeeeee yields 0.07, which is very unoccupied.

As black is 0x000000 it should yield 100% (or very) occupied. Gray may not result in an area being considered occupied.


Edit:

According to the wiki that I linked to, you can use a PNG instead of PGM, but PNG is not supported on OS X.

I've manually edited maps using GIMP and had great success with keeping planners from making paths through unwanted areas. I used black instead of gray as that corresponds to "very" occupied. From the wiki:

When comparing to the threshold parameters, the occupancy probability of an image pixel is computed as follows: occ = (255 - color_avg) / 255.0, where color_avg is the 8-bit value that results from averaging over all channels, e.g. if the image is 24-bit color, a pixel with the color 0x0a0a0a has a probability of 0.96, which is very occupied. The color 0xeeeeee yields 0.07, which is very unoccupied.

As black is 0x000000 it should yield 100% (or very) occupied. Gray may not result in an area being considered occupied.


Edit:

According to the wiki that I linked to, you can use a PNG instead of PGM, but PNG is not supported on OS X.

As @Procópio stated in the comments

painting the map black will have the side-effect of degrading localization, as the real LIDAR measurements will not match those of the edited map.