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
)
- Author:
- Brian Gerkey
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Last updated 12 September 2005 21:38:45
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