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Use the Open3D wrapper of qhull

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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
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4
src/active_grasp/controller.py
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@ -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: