Map blueprint
Contents
1. Door open Green OxOOFFO0O Door closed Blue 0x0000FF Obstacle Black 0x000000 Go areas White OxFFFFFF No Go areas Red OxFFO000 Size Sample The size of the image file is important as it determines the resolution of the map One pixel on the image is the base unit for the collision detection The smallest object may have this dimension Smaller objects cannot possibly be detected If you want collision detection with an accuracy of 1 cm you need to choose the size of the image such that one pixel on the image corresponds to 1 cm in the real world Format The best formats for the images are indexed ones like GIF because we have just a small amount of colors When saving the file make sure to use a palette with exactly the amount of colors used in the map max 5 Turn off any dithering or smoothing because we don t want blurry walls2. Eukalyptus Koala Environment Simulator User manual Map blueprint Thabo Beeler University of Applied Sciences Rapperswil HSR User manual Map blueprint 2 Revision History Version When What Who 0 1 13 06 2004 Initial version Thabo Beeler 0 2 23 06 2004 First revision Thabo Beeler User manual Map blueprint 3 Table of contents How to create a good map DIME DINE 26essscsass abcde teuntsateechcwecdane cated eee teetieatoatanacteass aetecchmiat ce MCOMGT SCOTT ase ean ieee chica aaa E te Aare E CARs MBs aia E miata IZ ceased Ade oe ea oe eae ea eam eee ee ee eee FORMA pulacivtan sioteoutetielapiionteoubesontais shesehulentel lata seule nent cutsautobulonontertatetonuianse bout thet AE TE User manual Map blueprint How to create a good map blueprint Eukalyptus is able to load and interpret image files This provides an easy and convenient way to generate maps for the simulator as blueprints of most buildings are available One could simply load such a blueprint but the resulting map may not be good Especially doors need to be color encoded so Eukalyptus interprets them correctly The following instructions for blueprint pre processing will enable you to create good blueprints Color encoding The following color encodings are recognized by Eukalyptus Every element in the blueprint should be colored in one of these colors Element Color Code code hex
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