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fixing adding tables to the collision world #578

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fixing adding tables to the collision world #578

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2 changes: 1 addition & 1 deletion perception/semantic_world/src/semantic_world.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,7 @@ bool SemanticWorld::addTablesToCollisionWorld()
std::vector<unsigned int> triangles((vertices.size() - 2)* 3);
for (unsigned int j = 0 ; j < convex_hull.size() ; ++j)
vertices[j] = Eigen::Vector3d(convex_hull[j].x, convex_hull[j].y, convex_hull[j].z);
for (unsigned int j = 1; j < triangles.size() - 1; ++j)
for (unsigned int j = 0; j < vertices.size() - 2; ++j)
{
unsigned int i3 = j * 3;
triangles[i3++] = 0;
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There is a new bug here. Consider what happens when j == 0. triangles[0] = 0, triangles[1] = 0, and triangles[2] = 1. So the first triangle is always a line. Then because of the loop ending just before vertices.size() - 2, the last (needed) triangle is missing.

I think the correct code should look like you have it, with lines 132 and 133 changed to read:

triangles[i3++] = j+1;
triangles[i3] = j+2;

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