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mapscale [Drivers] The mapscale driver reads a occupancy grid map from another map device and scales it to produce a new map with a different resolution. The scaling is accomplished with the gdk_pixbuf_scale_simple() function, using the GDK_INTERP_HYPER algorithm. Compile-time dependencies gdk-pixbuf-2.0 (usually installed as part of GTK) Provides map : the resulting scaled map Requires map : the raw map, to be scaled Configuration requests PLAYER_MAP_GET_INFO_REQ PLAYER_MAP_GET_DATA_REQ Configuration file options resolution (length) Default: -1.0 The new scale (length / pixel). Example driver ( name "mapfile" provides ["map:0"] filename "mymap.pgm" resolution 0.1 # 10cm per pixel ) driver ( name "mapscale" requires ["map:0"] # read from map:0 provides ["map:1"] # output scaled map on map:1 resolution 0.5 # scale to 50cm per pixel ) Authors Brian Gerkey