Method and computing device for determining a set of raster images for swathes to be printed on an object

A method for determining a set of raster images for swathes to be printed on an object, with the printing having to be carried out using a printing system comprising at least one robot configured to follow a set of trajectories, said robot being provided with a plurality of printing heads, each of which is equipped with a plurality of nozzles for printing jets at given spraying instants, said method being implemented by a computing device and comprising at least the following successive steps:

• a reception step for receiving a mesh of the object, corresponding to a tessellated mesh formed by triangles, texture maps associated with this mesh and said set of trajectories to be followed by the robot;
• and
• a determination step for determining, based on said mesh, said texture maps and said trajectories, said set of raster images, by simulating a printing method taking into account aerodynamic effects on the printing jets and by determining greyscales as a function of stitching situations between swathes relating to said trajectories, the determination step comprising at least the following sub-steps:
• a second sub-step for identifying, in subdivided triangles of the mesh, a stitching situation based on said trajectories, for applying a stitching code relating to each stitching situation and for associating the stitching code with the texture map at a location corresponding to coordinates of each considered subdivided triangle;
• and
• a third sub-step for analyzing the texture maps comprising all the stitching situations and the stitching codes and for associating each stitching situation with a stitching gradient for each successive swath to be printed.