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As you are using a Kobo device, sending the books to the device a kepub might be better for books with maps and pictures. With kepubs, you can double tap on the image to open it in a view that supports zooming.
To do that, you can either use the KoboTouchExtended driver which will transform the books to kepubs when you send them to the device. Or the Kepub Output plugin to do a conversion. The latter is better if you do not want to send all books as kepubs.
If I do edit the book, I either wrap the image in an SVG so that it resizes to the screen. Or put a class on the img tag that sets either the width or height to 100%. Which I do depends on the aspect ratio of the image and which works best to maximise the image size.
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