table of contents
IMAGE2GRIDMAP(1) | Mobile Robot Programming Toolkit - MRPT | IMAGE2GRIDMAP(1) |
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'.
2024-12-10 | perl v5.40.0 |