.ply or .pcd files and trajopt

[savolla]

Can Trajopt operate on Point Cloud data? I have a very big pointcloud data and converting it to a mesh file takes too long. I want to know if I can just use the raw pointcloud data instead of .stl or .dae files.

[Levi-Armstrong]

It does. Tesseract support creating the tesseract_geometry::Octree object from a point cloud. I recommend using the tesseract_geometry::Octree::prune or setting the constructor parameter prune to true. This is a custom prune which looks at adjacent cells and if occupied it grows the box so fewer collision objects are created.