NAME

       image2gridmap - Convert any image into an MRPT .gridmap file

SYNOPSIS

       image2gridmap  [-w] [--py <0.0>] [--px <0.0>] [--cy <0.0>] [--cx <0.0>]
                      -r <0.1> [-o <map.gridmap.gz>] -i <map_image.png> [--]
                      [--version] [-h]

USAGE EXAMPLES

       Minimal call to convert an image into a gridmap, (0,0) being at image center:

       image2gridmap -i map.png --res 0.10

       Use custom (0,0) location with pixel coords. of (0,0):

       image2gridmap -i map.png --res 0.10 --px 120 --py 100

       Use custom (0,0) location coordinates of image center:

       image2gridmap -i map.png --res 0.10 --cx -25.10 --cy 14.50

DESCRIPTION

       image2gridmap is a command-line application to convert arbitrary grayscale images into
       MRPT `.gridmap.gz` files. A `.gridmap.gz` file is just a gz-compressed file containing the
       serialization of an object of type `mrpt::maps::COccupancyGridMap2D`.

       USAGE:

          image2gridmap  [-w] [--py <0.0>] [--px <0.0>] [--cy <0.0>] [--cx <0.0>]
                         -r <0.1> [-o <map.gridmap.gz>] -i <map_image.png> [--]
                         [--version] [-h]

       Where:

          -w,  --overwrite
            Force overwrite target file without prompting.

          --py <0.0>
            (Use either --cx or --px) Pixel verticl coordinate of the origin of
            coordinates in the image

          --px <0.0>
            (Use either --cx or --px) Pixel horizontal coordinate of the origin of
            coordinates in the image

          --cy <0.0>
            (Use either --cy or --py) Y coordinate of the image central pixel
            (Default:0)

          --cx <0.0>
            (Use either --cx or --px) X coordinate of the image central pixel
            (Default:0)

          -r <0.1>,  --res <0.1>
            (required)  Resolution: size (in meters) of one pixel in the image
            (required)

          -o <map.gridmap.gz>,  --output <map.gridmap.gz>
            Name of the output file (*.gridmap, *.gridmap.gz)

          -i <map_image.png>,  --input <map_image.png>
            (required)  Input image file (required) (*.png,*.jpg,...)

          --,  --ignore_rest
            Ignores the rest of the labeled arguments following this flag.

          --version
            Displays version information and exits.

          -h,  --help
            Displays usage information and exits.

BUGS

       Please report bugs at https://github.com/MRPT/mrpt/issues

SEE ALSO

       The application wiki page at https://www.mrpt.org/Applications

AUTHORS

       image2gridmap is part of the Mobile Robot Programming Toolkit (MRPT), and was originally
       written by Jose Luis Blanco.

       This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.

COPYRIGHT

       This program is free software; you can redistribute it and/or modify it under the terms of
       the BSD License.

       On Debian GNU/Linux systems, the complete text of the BSD License can be found in
       `/usr/share/common-licenses/BSD'.