Issues generating paths for a subset of mesh faces #149
Description
Hi,
I'm currently trying to use noether to generate paths over a subset of faces on a mesh. The faces are chosen through a tool I've developed in rviz, which then extracts those faces from the Mesh (represented as a vtkPolyData object) and converts them into a shape_msgs/Mesh message. this mesh selection is eventually passed to noether's plane slicer and edge path planners. This is the code I'm using to generate the message.
shape_msgs::Mesh Mesh::toShapeMsgsMesh(std::vector<int> faces)
{
std::vector<int> processed_points;
shape_msgs::Mesh mesh;
for (int i : faces)
{
shape_msgs::MeshTriangle triangle;
vtkIdList* face = vtkIdList::New();
mesh_->GetCellPoints(i, face);
for (int j = 0; j < 3; j++)
{
int vertex_id = face->GetId(j);
if (std::find(processed_points.begin(), processed_points.end(), vertex_id) != processed_points.end())
continue;
double* point = mesh_->GetPoint(vertex_id);
geometry_msgs::Point vertex;
vertex.x = point[0];
vertex.y = point[1];
vertex.z = point[2];
mesh.vertices.push_back(vertex);
processed_points.push_back(vertex_id);
}
triangle.vertex_indices = {face->GetId(0), face->GetId(1), face->GetId(2)};
mesh.triangles.push_back(triangle);
}
return mesh;
}
mesh_ is the vtkPolyData object containing all faces, and faces is the vector of selected face indexes.
When I attempt to generate a plane slice path over a selection, the message is passed to noether which then crashes. I don't think it's an issue with the message building or noether calling code as, when I select every face on the mesh, the planning works fine. It's just when using a subset of faces that it breaks.
Any help would be much appreciated!