00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: TextureMesh.h 5295 2012-03-25 19:03:32Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_TEXTUREMESH_H_ 00041 #define PCL_TEXTUREMESH_H_ 00042 00043 #include <pcl/common/eigen.h> 00044 #include <std_msgs/Header.h> 00045 #include <pcl/PolygonMesh.h> 00046 #include <string> 00047 #include <sensor_msgs/PointCloud2.h> 00048 #include <pcl/Vertices.h> 00049 00050 namespace pcl 00051 { 00053 struct TexMaterial 00054 { 00055 TexMaterial () : tex_name (), tex_file (), tex_Ka (), tex_Kd (), tex_Ks (), tex_d (), tex_Ns (), tex_illum () {} 00056 00057 struct RGB 00058 { 00059 float r; 00060 float g; 00061 float b; 00062 }; //RGB 00063 00065 std::string tex_name; 00066 00068 std::string tex_file; 00069 00071 RGB tex_Ka; 00072 00074 RGB tex_Kd; 00075 00077 RGB tex_Ks; 00078 00080 float tex_d; 00081 00083 float tex_Ns; 00084 00090 int tex_illum; 00091 }; // TexMaterial 00092 00094 struct TextureMesh 00095 { 00096 TextureMesh () : 00097 header (), cloud (), tex_polygons (), tex_coordinates (), tex_materials () {} 00098 00099 std_msgs::Header header; 00100 sensor_msgs::PointCloud2 cloud; 00101 00102 std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial 00103 std::vector<std::vector<Eigen::Vector2f> > tex_coordinates; // UV coordinates 00104 std::vector<pcl::TexMaterial> tex_materials; // define texture material 00105 00106 public: 00107 typedef boost::shared_ptr<pcl::TextureMesh> Ptr; 00108 typedef boost::shared_ptr<pcl::TextureMesh const> ConstPtr; 00109 }; // struct TextureMesh 00110 00111 typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr; 00112 typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr; 00113 } // namespace pcl 00114 00115 #endif /* PCL_TEXTUREMESH_H_ */ 00116