Point Cloud Library (PCL)  1.10.0-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  struct RGB
52  {
53  float r = 0;
54  float g = 0;
55  float b = 0;
56  }; //RGB
57 
58  /** \brief Texture name. */
59  std::string tex_name;
60 
61  /** \brief Texture file. */
62  std::string tex_file;
63 
64  /** \brief Defines the ambient color of the material to be (r,g,b). */
66 
67  /** \brief Defines the diffuse color of the material to be (r,g,b). */
69 
70  /** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
72 
73  /** \brief Defines the transparency of the material to be alpha. */
74  float tex_d;
75 
76  /** \brief Defines the shininess of the material to be s. */
77  float tex_Ns;
78 
79  /** \brief Denotes the illumination model used by the material.
80  *
81  * illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
82  * illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
83  */
84  int tex_illum;
85  }; // TexMaterial
86 
87  /** \author Khai Tran */
88  struct TextureMesh
89  {
92 
93 
94  std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial
95  std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates; // UV coordinates
96  std::vector<pcl::TexMaterial> tex_materials; // define texture material
97 
98  public:
101  }; // struct TextureMesh
102 
105 } // namespace pcl
std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > > tex_coordinates
Definition: TextureMesh.h:95
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
std::string tex_name
Texture name.
Definition: TextureMesh.h:59
float tex_Ns
Defines the shininess of the material to be s.
Definition: TextureMesh.h:77
RGB tex_Ka
Defines the ambient color of the material to be (r,g,b).
Definition: TextureMesh.h:65
shared_ptr< pcl::TextureMesh > Ptr
Definition: TextureMesh.h:99
pcl::PCLHeader header
Definition: TextureMesh.h:91
std::vector< pcl::TexMaterial > tex_materials
Definition: TextureMesh.h:96
RGB tex_Ks
Defines the specular color of the material to be (r,g,b).
Definition: TextureMesh.h:71
shared_ptr< const pcl::TextureMesh > ConstPtr
Definition: TextureMesh.h:100
RGB tex_Kd
Defines the diffuse color of the material to be (r,g,b).
Definition: TextureMesh.h:68
TextureMesh::ConstPtr TextureMeshConstPtr
Definition: TextureMesh.h:104
std::string tex_file
Texture file.
Definition: TextureMesh.h:62
TextureMesh::Ptr TextureMeshPtr
Definition: TextureMesh.h:103
pcl::PCLPointCloud2 cloud
Definition: TextureMesh.h:90
int tex_illum
Denotes the illumination model used by the material.
Definition: TextureMesh.h:84
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
std::vector< std::vector< pcl::Vertices > > tex_polygons
Definition: TextureMesh.h:94
float tex_d
Defines the transparency of the material to be alpha.
Definition: TextureMesh.h:74