image2gridmap - Convert any image into an MRPT .gridmap file

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>.

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

       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'.

perl v5.34.0                                       2022-02-05                                   IMAGE2GRIDMAP(1)

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.

       image2gridmap - Convert any image into an MRPT .gridmap file

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

       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]

Minimalcalltoconvertanimageintoagridmap,(0,0)beingatimagecenter:

       image2gridmap -i map.png --res 0.10

       Usecustom(0,0)locationwithpixelcoords.of(0,0):

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

       Usecustom(0,0)locationcoordinatesofimagecenter:

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