Point Cloud Library (PCL)  1.7.0
TextureMesh.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  */
38 
39 #ifndef PCL_TEXTUREMESH_H_
40 #define PCL_TEXTUREMESH_H_
41 
42 #include <Eigen/Core>
43 #include <string>
44 #include <pcl/PCLPointCloud2.h>
45 #include <pcl/Vertices.h>
46 
47 namespace pcl
48 {
49  /** \author Khai Tran */
50  struct TexMaterial
51  {
52  TexMaterial () : tex_name (), tex_file (), tex_Ka (), tex_Kd (), tex_Ks (), tex_d (), tex_Ns (), tex_illum () {}
53 
54  struct RGB
55  {
56  float r;
57  float g;
58  float b;
59  }; //RGB
60 
61  /** \brief Texture name. */
62  std::string tex_name;
63 
64  /** \brief Texture file. */
65  std::string tex_file;
66 
67  /** \brief Defines the ambient color of the material to be (r,g,b). */
69 
70  /** \brief Defines the diffuse color of the material to be (r,g,b). */
72 
73  /** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
75 
76  /** \brief Defines the transparency of the material to be alpha. */
77  float tex_d;
78 
79  /** \brief Defines the shininess of the material to be s. */
80  float tex_Ns;
81 
82  /** \brief Denotes the illumination model used by the material.
83  *
84  * illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
85  * illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
86  */
87  int tex_illum;
88  }; // TexMaterial
89 
90  /** \author Khai Tran */
91  struct TextureMesh
92  {
95 
98 
99 
100  std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial
101  std::vector<std::vector<Eigen::Vector2f> > tex_coordinates; // UV coordinates
102  std::vector<pcl::TexMaterial> tex_materials; // define texture material
103 
104  public:
105  typedef boost::shared_ptr<pcl::TextureMesh> Ptr;
106  typedef boost::shared_ptr<pcl::TextureMesh const> ConstPtr;
107  }; // struct TextureMesh
108 
109  typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr;
110  typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr;
111 } // namespace pcl
112 
113 #endif /* PCL_TEXTUREMESH_H_ */
114