Potential Bug in BEV maps generation

[monghimng]

We note some inconsistency in the data collection, and we are wondering if you could help us out.

In map_utils.py, the hero_xxx_surface are constructed bigger than the output size so that rotation would not cause loss of pixels. The resolution is constructed the same as the output window_xxx_surface, which is 5 pixels per meter. This is shown by the following line.

scaled_original_size = self.original_surface_size * (1.0 / 0.9)
self.hero_map_surface = pygame.Surface((scaled_original_size, scaled_original_size)).convert()

However, we notice during rotation,

rotated_map_surface = rz(self.hero_map_surface, angle, 0.9).convert()

There is a 0.9 shrinking. Wouldn't this cause the output to no longer have 5 pixels per meter resolution.

Thanks.