---
name: "image2gridmap"
section: "1"
platform: "linux"
package: "mrpt-apps"
version: "1:2.14.7+ds-1+b3"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/image2gridmap"
---

# image2gridmap(1)

Convert any image into an MRPT .gridmap file

## 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'.