# Usage
pointcloud_to_2dmap input_pcd dst_directory

# Help
pointcloud_to_2dmap:
  --help                                Produce help message
  -r [ --resolution ] arg (=0.1)        Pixel resolution (meters / pix)
  -w [ --map_width ] arg (=1024)        Map width [pix]
  -h [ --map_height ] arg (=1024)       Map height [pix]
  --min_points_in_pix arg (=2)          Min points in a occupied pix
  --max_points_in_pix arg (=5)          Max points in a pix for saturation
  --min_height arg (=0.5)               Min height of clipping range
  --max_height arg (=1)                 Max height of clipping range
  --input_pcd arg                       Input PCD file
  --dest_directory arg                  Destination directory