Tutorial to Simplify 3D Mesh using Meshlab
==========================================

Overview
---------

This tutorial walks you through the steps to simplify a 3D mesh using Meshlab. Simplification of the mesh reduces the number of vertices and faces, which helps reduce the computational cost of the rendering part of ``FoundationPose`` algorithm.


Tutorial Walkthrough
--------------------

1. Download and install Meshlab from the [official website](https://www.meshlab.net/#download).
2. Click on `File` -> `Import Mesh` and select the `.obj` file you want to simplify:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_1.png>`
      :width: 600px
      :align: center

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_2.png>`
      :width: 600px
      :align: center

3. Click on the `Filters` -> `Remeshing, Simplification and Reconstruction` -> `Simplification : Quadratic Edge Colapse Simplification`:

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/simplify_mesh_1.png>`
      :width: 600px
      :align: center

4. Modify the `percentage reduction value` and click on `Apply` and then `Close`:
      
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/simplify_mesh_2.png>`
      :width: 600px
      :align: center 

5. Click on `File` -> `Export Mesh As` and select the `.obj` format:
   
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_1.png>`
      :width: 600px
      :align: center
   
   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_2.png>`
      :width: 600px
      :align: center