From 0cafc20ead80cd287bd74275454337bf3da881ea Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Thu, 4 Nov 2021 15:04:10 +0100
Subject: [PATCH] Use the Open3D wrapper of qhull

---
 src/active_grasp/controller.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index b05eedb..89212c0 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -199,7 +199,9 @@ class GraspController:
 
 
 def compute_convex_hull(cloud):
-    return trimesh.points.PointCloud(np.asarray(cloud.points)).convex_hull
+    hull, _ = cloud.compute_convex_hull()
+    triangles, vertices = np.asarray(hull.triangles), np.asarray(hull.vertices)
+    return trimesh.base.Trimesh(vertices, triangles)
 
 
 class ViewHalfSphere: