Application: image2gridmap

 

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
(Use either –cx or –px) Pixel vertical 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 http://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’.