void DistanceFieldFitter::initializeFromMesh(const arm_navigation_msgs::Shape &mesh)
{
std::vector<btVector3> btVectors;
//we use a slightly larger resolution than the distance field, in an attempt to bring
//down pre-computation time
sampleMesh(mesh, btVectors, 1.5 * distance_field_resolution_ );
initializeFromBtVectors(btVectors);
}
void DistanceFieldFitter::initializeFromMesh(const shape_msgs::Mesh &mesh)
{
std::vector<cv::Point3f> btVectors;
model_points_.reserve(mesh.vertices.size());
typedef std::vector<geometry_msgs::Point>::const_iterator I;
for (I i = mesh.vertices.begin(); i != mesh.vertices.end(); i++)
model_points_.push_back(cv::Point3f(i->x,i->y,i->z));
// 20mm resolution
//sampleMesh(mesh, model_points_, 0.02 );
//we use a slightly larger resolution than the distance field, in an attempt to bring
//down pre-computation time
sampleMesh(mesh, btVectors, 1.5 * distance_field_resolution_ );
initializeFromVector(btVectors);
}
