Picture Preprocessing Program

Kuka KR6 Drawer project (AIRA). Picture to draw preprocessor.

How to use?

You need to have python (version 3.6.3+) and PIL on your computer. Instructions for PIL instalation could be found here.

1. Put python script in a folder with image file
2. Create configuration file (script will do this automaticaly if makeSampleConf is equal to True)
3. Run script
4. Now you have painting_setup.py file in your folder!

Configuration file

The configuration file has .json format. This file includes parameters of a collor pallet and canvas dimentions.

• "description" -
• "file" - name of file with a picture to be drawed
• "colors" - array of a data about robot's collor pallete
  • "color" - name of the color
  • "ID" - ID of the collor on a pallete
  • "R" - Red component of a color (in RGB)
  • "G" - Green component of a color (in RGB)
  • "B" - Blue component of a color (in RGB)
• "height" - height of the canvas (in m)
• "width" - width of the canvas (in m)
• "brush" - brush diameter (in m)

Output data file

The programm creates file with list a colored points on a canvas. This data is need to make Kuka draw a picture after pixelating.The output data file includes information as:

• "test" - variable used while debug

• "paintingPoints" - list of colored points

  • "x" - X component of coordinate of the point
  • "y" - Y component of coordinate of the point
  • "R" - Red component of a color (in RGB)
  • "G" - Green component of a color (in RGB)
  • "B" - Blue component of a color (in RGB)

  Remember that coordinate frame of the picture is plased as showed: