ohr-cartographer
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Example output, from Vikings of Midgard
ohr-cartographer is a command-line tool for rendering maps in .rpg files as .png files, written by Spencer Zhang. Each tile appears in full size 20x20, unlike the built-in option to export map layers with one pixel per tile.
It's available for Windows here. (Select "Clone or Download" at the top right and then "Download ZIP", and run bin\mapper.exe). GNU/Linux and Mac OSX users need to use this version instead (also works for Windows users). On other platforms, you will need to provide a copy of the unlump utility yourself.