mapscale
Drivers

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

Last updated 12 September 2005 21:38:45