1IMAGE2GRIDMAP(1)    Mobile Robot Programming Toolkit - MRPT   IMAGE2GRIDMAP(1)
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NAME

6       image2gridmap - Convert any image into an MRPT .gridmap file
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SYNOPSIS

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

14       Minimal call to convert an image into a gridmap, (0,0) being at image
15       center:
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17       image2gridmap -i map.png --res 0.10
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19       Use custom (0,0) location with pixel coords. of (0,0):
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21       image2gridmap -i map.png --res 0.10 --px 120 --py 100
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23       Use custom (0,0) location coordinates of image center:
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25       image2gridmap -i map.png --res 0.10 --cx -25.10 --cy 14.50
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DESCRIPTION

28       image2gridmap is a command-line application to convert arbitrary
29       grayscale images into MRPT `.gridmap.gz` files. A `.gridmap.gz` file is
30       just a gz-compressed file containing the serialization of an object of
31       type `mrpt::maps::COccupancyGridMap2D`.
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33       USAGE:
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35          image2gridmap  [-w] [--py <0.0>] [--px <0.0>] [--cy <0.0>] [--cx <0.0>]
36                         -r <0.1> [-o <map.gridmap.gz>] -i <map_image.png> [--]
37                         [--version] [-h]
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39       Where:
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41          -w,  --overwrite
42            Force overwrite target file without prompting.
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44          --py <0.0>
45            (Use either --cx or --px) Pixel verticl coordinate of the origin of
46            coordinates in the image
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48          --px <0.0>
49            (Use either --cx or --px) Pixel horizontal coordinate of the origin of
50            coordinates in the image
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52          --cy <0.0>
53            (Use either --cy or --py) Y coordinate of the image central pixel
54            (Default:0)
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56          --cx <0.0>
57            (Use either --cx or --px) X coordinate of the image central pixel
58            (Default:0)
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60          -r <0.1>,  --res <0.1>
61            (required)  Resolution: size (in meters) of one pixel in the image
62            (required)
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64          -o <map.gridmap.gz>,  --output <map.gridmap.gz>
65            Name of the output file (*.gridmap, *.gridmap.gz)
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67          -i <map_image.png>,  --input <map_image.png>
68            (required)  Input image file (required) (*.png,*.jpg,...)
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70          --,  --ignore_rest
71            Ignores the rest of the labeled arguments following this flag.
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73          --version
74            Displays version information and exits.
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76          -h,  --help
77            Displays usage information and exits.
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BUGS

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

83       The application wiki page at http://www.mrpt.org/Applications
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AUTHORS

86       image2gridmap is part of the Mobile Robot Programming Toolkit (MRPT),
87       and was originally written by Jose Luis Blanco.
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89       This manual page was written by Jose Luis Blanco
90       <joseluisblancoc@gmail.com>.
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93       This program is free software; you can redistribute it and/or modify it
94       under the terms of the BSD License.
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96       On Debian GNU/Linux systems, the complete text of the BSD License can
97       be found in `/usr/share/common-licenses/BSD'.
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101perl v5.34.0                      2021-08-20                  IMAGE2GRIDMAP(1)
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