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.

  2. Click on File -> Import Mesh and select the .obj file you want to simplify:

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_1.png/
    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/import_mesh_2.png/
  3. Click on the Filters -> Remeshing, Simplification and Reconstruction -> Simplification : Quadratic Edge Colapse Simplification:

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/simplify_mesh_1.png/
  4. Modify the percentage reduction value and click on Apply and then Close:

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/simplify_mesh_2.png/
  5. Click on File -> Export Mesh As and select the .obj format:

    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_1.png/
    https://media.githubusercontent.com/media/NVIDIA-ISAAC-ROS/.github/release-4.0/resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/save_obj_2.png/