mapscale

Scale grid maps. More...

Scale grid maps.

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_REQ_GET_INFO
• PLAYER_MAP_REQ_GET_DATA

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