Visualization in changed occupancy threshold case

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I've been investigating this problem myself. The short answer is yes, the octomap_rviz plugin does not seem to support this.

Looking at 'occupancy_grid_display.cpp', within 'incomingMessageCallback()':

if (octomap->isNodeOccupied(*it))

'isNodeOccupied()' looks up the log of the threshold which you are presumably setting.

Unfortunately, it seems the 'octomap' variable being referenced here is not the same as the one you are setting the threshold of. It is created from the message in the callback:

octomap::AbstractOcTree* tree = octomap_msgs::msgToMap(*msg);
    if (tree){
        octomap = dynamic_cast<OcTreeType*>(tree);
...

Seeing as there is no field in the message to carry the threshold data, I don't know how to solve your problem.

Of course, you could hard code the value, but it is hardly ideal. Instead of isNodeOccupied()', use:

if (it->getOccupancy() > 0.5)

...where the value is between 0 and 1.

This applies to any other part which uses 'isNodeOccupied()', such as the neighbour checking.

Having said that, I have noticed that the Occupancy Map does show more cells as occupied. This could be down to it using a binary tree or something.