# SubmapTexture.msg

## Overview

`SubmapTexture.msg` carries the occupancy grid texture of a submap slice, along with its dimensions, resolution, and pose.

## Fields

| Field | Type | Description |
| --- | --- | --- |
| `cells` | `uint8[]` | The raw occupancy data, stored row-major with one byte per cell. |
| `width` | `int32` | The width of the texture in cells. |
| `height` | `int32` | The height of the texture in cells. |
| `resolution` | `float64` | The resolution of the texture in meters per cell. |
| `slice_pose` | `geometry_msgs/Pose` | The pose of the submap slice in the map frame. |

## Usage

- The texture is returned by `SubmapQuery.srv` inside its `textures` array.
- To render the texture, interpret each byte in `cells` as a grid cell occupancy value (higher values indicate more occupied).
- `slice_pose` allows the consumer to position the texture correctly relative to the map frame.