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 list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

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'.