Splits a binary image representing free space and obstacles into regions that can be covered using simple boustrophedon coverage. Mostly did this to brush up on C++ in preparation of resuming my CS degree at Winthrop University.

• libpng
• (build) CMake

To build, just run scripts/build.sh. Make sure you have a C++ compiler, libpng headers, and CMake installed.

bcd [-l LEEWAY] INPUT_PNG OUTPUT_PNG

• INPUT_PNG: PNG image file with white as open space and black as obstacles.
• OUTPUT_PNG: PNG image file to write partitioned map to.
• LEEWAY: Number of pixels leeway to give overhangs.