Point Cloud Library (PCL)  1.9.1-dev
TextureMesh.h
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38 
39 #pragma once
40 
41 #include <Eigen/Core>
42 #include <string>
43 #include <pcl/PCLPointCloud2.h>
44 #include <pcl/Vertices.h>
45 
46 namespace pcl
47 {
48  /** \author Khai Tran */
49  struct TexMaterial
50  {
51  TexMaterial () : tex_Ka (), tex_Kd (), tex_Ks (), tex_d (), tex_Ns (), tex_illum () {}
52 
53  struct RGB
54  {
55  float r;
56  float g;
57  float b;
58  }; //RGB
59 
60  /** \brief Texture name. */
61  std::string tex_name;
62 
63  /** \brief Texture file. */
64  std::string tex_file;
65 
66  /** \brief Defines the ambient color of the material to be (r,g,b). */
68 
69  /** \brief Defines the diffuse color of the material to be (r,g,b). */
71 
72  /** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
74 
75  /** \brief Defines the transparency of the material to be alpha. */
76  float tex_d;
77 
78  /** \brief Defines the shininess of the material to be s. */
79  float tex_Ns;
80 
81  /** \brief Denotes the illumination model used by the material.
82  *
83  * illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
84  * illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
85  */
86  int tex_illum;
87  }; // TexMaterial
88 
89  /** \author Khai Tran */
90  struct TextureMesh
91  {
93 
96 
97 
98  std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial
99  std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates; // UV coordinates
100  std::vector<pcl::TexMaterial> tex_materials; // define texture material
101 
102  public:
103  using Ptr = boost::shared_ptr<pcl::TextureMesh>;
104  using ConstPtr = boost::shared_ptr<const pcl::TextureMesh>;
105  }; // struct TextureMesh
106 
107  using TextureMeshPtr = boost::shared_ptr<pcl::TextureMesh>;
108  using TextureMeshConstPtr = boost::shared_ptr<const pcl::TextureMesh>;
109 } // namespace pcl
std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > > tex_coordinates
Definition: TextureMesh.h:99
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
std::string tex_name
Texture name.
Definition: TextureMesh.h:61
float tex_Ns
Defines the shininess of the material to be s.
Definition: TextureMesh.h:79
RGB tex_Ka
Defines the ambient color of the material to be (r,g,b).
Definition: TextureMesh.h:67
pcl::PCLHeader header
Definition: TextureMesh.h:95
std::vector< pcl::TexMaterial > tex_materials
Definition: TextureMesh.h:100
boost::shared_ptr< pcl::TextureMesh > Ptr
Definition: TextureMesh.h:103
RGB tex_Ks
Defines the specular color of the material to be (r,g,b).
Definition: TextureMesh.h:73
boost::shared_ptr< const pcl::TextureMesh > ConstPtr
Definition: TextureMesh.h:104
RGB tex_Kd
Defines the diffuse color of the material to be (r,g,b).
Definition: TextureMesh.h:70
std::string tex_file
Texture file.
Definition: TextureMesh.h:64
pcl::PCLPointCloud2 cloud
Definition: TextureMesh.h:94
boost::shared_ptr< pcl::TextureMesh > TextureMeshPtr
Definition: TextureMesh.h:107
boost::shared_ptr< const pcl::TextureMesh > TextureMeshConstPtr
Definition: TextureMesh.h:108
int tex_illum
Denotes the illumination model used by the material.
Definition: TextureMesh.h:86
std::vector< std::vector< pcl::Vertices > > tex_polygons
Definition: TextureMesh.h:98
float tex_d
Defines the transparency of the material to be alpha.
Definition: TextureMesh.h:76