Building the image

With making the image we faced an interesting challenge. For the robot to understand the image it has to be given a vector file (SVG). Vector files are optimized for accurate smooth lines yet are limited in their edditing capabilities. First we attempted to devide the image via an automated cropping system in python. This would load the image multiple times and crop it according to the predetermined grid. However because of the way SVG is build up it still saves all the lines and only changes the viewbox. As a result all the lines would parse to the robot resulting in an out of reach error(for this see the post Can we paint it). Since no automated system currently exists for splitting the lines and deleting them outside of a predetermined box we decided to do this by hand.
The SVG files were edited afterwards to share the same viewbox so that the read size by ROS is equal and it can make a fitting grid.

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