=head1 NAME

image2gridmap - Convert any image into an MRPT .gridmap file

=head1 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]

=head1 USAGE EXAMPLES

B<Minimal call to convert an image into a gridmap, (0,0) being at image center:>

image2gridmap -i I<map.png> --res 0.10

B<Use custom (0,0) location with pixel coords. of (0,0):>

image2gridmap -i I<map.png> --res 0.10 --px 120 --py 100

B<Use custom (0,0) location coordinates of image center:>

image2gridmap -i I<map.png> --res 0.10 --cx -25.10 --cy 14.50


=head1 DESCRIPTION

B<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.


=head1 BUGS

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

=head1 SEE ALSO

The application wiki page at https://www.mrpt.org/Applications

=head1 AUTHORS

B<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>.

=head1 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'.

=cut
