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