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INSPECTION PLANNER

1. download structural inspection planner source code

https://github.com/ethz-asl/StructuralInspectionPlanner.git

2. after running

roslaunch koptplanner hoaHakanaia.launch
rosrun request hoaHakanaia

3.it logs the path to the file below

koptplanner/data/latestPath.csv

4. you can visualize path and mesh using the files in matlab

request/visualization/inspectionPathVisualization.m  %matlab code for visualization
request/visualization/inspectionScenario.m   % path and mesh data

5.Planning code is found at:

/koptplanner/src/plan.cpp

Changing number of traingles in the mesh

1. download ACVD : Surface Mesh Coarsening and Resampling zip file from the website

http://www.creatis.insa-lyon.fr/site/en/acvd

2. unzip and go to it's directory,

NOTE:copy your stl or obj or ply mesh file here

/.ACVD <yourmeshfilename.ext>

3. It will ask for

Number of vertices ? your expected no of vertices
Gradation ? 1

4. output is stored in ply format with name output_1.ply

5. converting ply to stl file, go to the link given below

http://www.greentoken.de/onlineconv/

or you can use meshlab

Editing configuration file of inspection planner

1. As the range can be changed in the plan.cpp file

tri_t::setParam(req.incidenceAngle, req.minDist, req.maxDist); //change the params

2.

Changing facets direction

By changing the direction of the facets you could generate the way-points inside the model also.

1. open meshlab

2. load the original mesh

3. Filters -> Normals, Curvature and Orientation -> Invert Faces Normals -> Apply