106 lines
3.7 KiB
C
106 lines
3.7 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <Eigen/Core>
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#include <string>
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#include <pcl/PCLPointCloud2.h>
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#include <pcl/Vertices.h>
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namespace pcl
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{
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/** \author Khai Tran */
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struct TexMaterial
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{
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struct RGB
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{
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float r = 0;
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float g = 0;
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float b = 0;
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}; //RGB
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/** \brief Texture name. */
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std::string tex_name;
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/** \brief Texture file. */
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std::string tex_file;
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/** \brief Defines the ambient color of the material to be (r,g,b). */
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RGB tex_Ka;
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/** \brief Defines the diffuse color of the material to be (r,g,b). */
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RGB tex_Kd;
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/** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
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RGB tex_Ks;
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/** \brief Defines the transparency of the material to be alpha. */
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float tex_d;
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/** \brief Defines the shininess of the material to be s. */
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float tex_Ns;
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/** \brief Denotes the illumination model used by the material.
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*
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* illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
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* illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
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*/
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int tex_illum;
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}; // TexMaterial
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/** \author Khai Tran */
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struct TextureMesh
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{
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pcl::PCLPointCloud2 cloud;
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pcl::PCLHeader header;
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std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial
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std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates; // UV coordinates
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std::vector<pcl::TexMaterial> tex_materials; // define texture material
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public:
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using Ptr = shared_ptr<pcl::TextureMesh>;
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using ConstPtr = shared_ptr<const pcl::TextureMesh>;
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}; // struct TextureMesh
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using TextureMeshPtr = TextureMesh::Ptr;
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using TextureMeshConstPtr = TextureMesh::ConstPtr;
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} // namespace pcl
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