TextureMesh.h
Go to the documentation of this file.
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 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:47