hofee/nbv_sim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Use the Open3D wrapper of qhull

Browse Source
This commit is contained in:
Michel Breyer 2021-11-04 15:04:10 +01:00
parent 4a884fdc11
commit 0cafc20ead
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/active_grasp/controller.py
View File

@ -199,7 +199,9 @@ class GraspController:
def compute_convex_hull(cloud): 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: class ViewHalfSphere: