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 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL_TEXTUREMESH_H_ 00040 #define PCL_TEXTUREMESH_H_ 00041 00042 #include <Eigen/Core> 00043 #include <string> 00044 #include <pcl/PCLPointCloud2.h> 00045 #include <pcl/Vertices.h> 00046 00047 namespace pcl 00048 { 00050 struct TexMaterial 00051 { 00052 TexMaterial () : tex_name (), tex_file (), tex_Ka (), tex_Kd (), tex_Ks (), tex_d (), tex_Ns (), tex_illum () {} 00053 00054 struct RGB 00055 { 00056 float r; 00057 float g; 00058 float b; 00059 }; //RGB 00060 00062 std::string tex_name; 00063 00065 std::string tex_file; 00066 00068 RGB tex_Ka; 00069 00071 RGB tex_Kd; 00072 00074 RGB tex_Ks; 00075 00077 float tex_d; 00078 00080 float tex_Ns; 00081 00087 int tex_illum; 00088 }; // TexMaterial 00089 00091 struct TextureMesh 00092 { 00093 TextureMesh () : 00094 cloud (), tex_polygons (), tex_coordinates (), tex_materials () {} 00095 00096 pcl::PCLPointCloud2 cloud; 00097 pcl::PCLHeader header; 00098 00099 00100 std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial 00101 std::vector<std::vector<Eigen::Vector2f> > tex_coordinates; // UV coordinates 00102 std::vector<pcl::TexMaterial> tex_materials; // define texture material 00103 00104 public: 00105 typedef boost::shared_ptr<pcl::TextureMesh> Ptr; 00106 typedef boost::shared_ptr<pcl::TextureMesh const> ConstPtr; 00107 }; // struct TextureMesh 00108 00109 typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr; 00110 typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr; 00111 } // namespace pcl 00112 00113 #endif /* PCL_TEXTUREMESH_H_ */ 00114