Point Cloud Library (PCL) 1.15.0
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TextureMesh.h
1/*
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
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38
39#pragma once
40
41#include <Eigen/Core>
42#include <string>
43#include <pcl/PCLPointCloud2.h>
44#include <pcl/Vertices.h>
45
46namespace pcl
47{
48 /** \author Khai Tran */
50 {
51 struct RGB
52 {
53 float r = 0;
54 float g = 0;
55 float b = 0;
56 }; //RGB
57
58 /** \brief Texture name. */
59 std::string tex_name;
60
61 /** \brief Texture file. */
62 std::string tex_file;
63
64 /** \brief Defines the ambient color of the material to be (r,g,b). */
66
67 /** \brief Defines the diffuse color of the material to be (r,g,b). */
69
70 /** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
72
73 /** \brief Defines the transparency of the material to be alpha. */
74 float tex_d;
75
76 /** \brief Defines the shininess of the material to be s. */
77 float tex_Ns;
78
79 /** \brief Denotes the illumination model used by the material.
80 *
81 * illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
82 * illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
83 */
85 }; // TexMaterial
86
87 /** \author Khai Tran */
89 {
92
93
94 /** \brief polygon which is mapped with specific texture defined in TexMaterial */
95 std::vector<std::vector<pcl::Vertices> > tex_polygons;
96 /** \brief UV coordinates */
97 std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates;
98 /** \brief define texture material */
99 std::vector<pcl::TexMaterial> tex_materials;
100 /** \brief Specifies which texture coordinates from tex_coordinates each polygon/face uses.
101 * The vectors must have the same sizes as in tex_polygons, but the pcl::Vertices
102 * may be empty for those polygons/faces that do not use coordinates.
103 */
104 std::vector<std::vector<pcl::Vertices> > tex_coord_indices;
105
106 public:
107 using Ptr = shared_ptr<pcl::TextureMesh>;
108 using ConstPtr = shared_ptr<const pcl::TextureMesh>;
109 }; // struct TextureMesh
110
113} // namespace pcl
TextureMesh::Ptr TextureMeshPtr
TextureMesh::ConstPtr TextureMeshConstPtr
float tex_d
Defines the transparency of the material to be alpha.
Definition TextureMesh.h:74
RGB tex_Kd
Defines the diffuse color of the material to be (r,g,b).
Definition TextureMesh.h:68
RGB tex_Ka
Defines the ambient color of the material to be (r,g,b).
Definition TextureMesh.h:65
RGB tex_Ks
Defines the specular color of the material to be (r,g,b).
Definition TextureMesh.h:71
std::string tex_name
Texture name.
Definition TextureMesh.h:59
std::string tex_file
Texture file.
Definition TextureMesh.h:62
int tex_illum
Denotes the illumination model used by the material.
Definition TextureMesh.h:84
float tex_Ns
Defines the shininess of the material to be s.
Definition TextureMesh.h:77
std::vector< std::vector< pcl::Vertices > > tex_polygons
polygon which is mapped with specific texture defined in TexMaterial
Definition TextureMesh.h:95
std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > > tex_coordinates
UV coordinates.
Definition TextureMesh.h:97
pcl::PCLHeader header
Definition TextureMesh.h:91
std::vector< pcl::TexMaterial > tex_materials
define texture material
Definition TextureMesh.h:99
pcl::PCLPointCloud2 cloud
Definition TextureMesh.h:90
shared_ptr< const pcl::TextureMesh > ConstPtr
shared_ptr< pcl::TextureMesh > Ptr
std::vector< std::vector< pcl::Vertices > > tex_coord_indices
Specifies which texture coordinates from tex_coordinates each polygon/face uses.