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.IX Title "IMAGE2GRIDMAP 1"
.TH IMAGE2GRIDMAP 1 2024-03-20 "perl v5.38.2" "Mobile\ Robot\ Programming\ Toolkit\ -\ MRPT"
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.SH NAME
image2gridmap \- Convert any image into an MRPT .gridmap file
.SH SYNOPSIS
.IX Header "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]
.SH "USAGE EXAMPLES"
.IX Header "USAGE EXAMPLES"
\&\fBMinimal call to convert an image into a gridmap, (0,0) being at image center:\fR
.PP
image2gridmap \-i \fImap.png\fR \-\-res 0.10
.PP
\&\fBUse custom (0,0) location with pixel coords. of (0,0):\fR
.PP
image2gridmap \-i \fImap.png\fR \-\-res 0.10 \-\-px 120 \-\-py 100
.PP
\&\fBUse custom (0,0) location coordinates of image center:\fR
.PP
image2gridmap \-i \fImap.png\fR \-\-res 0.10 \-\-cx \-25.10 \-\-cy 14.50
.SH DESCRIPTION
.IX Header "DESCRIPTION"
\&\fBimage2gridmap\fR 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`.
.PP
USAGE:
.PP
.Vb 3
\&   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]
.Ve
.PP
Where:
.PP
.Vb 2
\&   \-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.
.Ve
.SH BUGS
.IX Header "BUGS"
Please report bugs at https://github.com/MRPT/mrpt/issues
.SH "SEE ALSO"
.IX Header "SEE ALSO"
The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html
.SH AUTHORS
.IX Header "AUTHORS"
\&\fBimage2gridmap\fR is part of the Mobile Robot Programming Toolkit (MRPT), and
was originally written by Jose Luis Blanco.
.PP
This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.
.SH COPYRIGHT
.IX Header "COPYRIGHT"
This program is free software; you can redistribute it and/or modify it
under the terms of the BSD License.
.PP
On Debian GNU/Linux systems, the complete text of the BSD License can be
found in `/usr/share/common\-licenses/BSD'.