Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: texture_mapping.h 1005 2011-07-13 13:07:00 ktran $ 00035 * 00036 */ 00039 #ifndef PCL_SURFACE_TEXTURE_MAPPING_H_ 00040 #define PCL_SURFACE_TEXTURE_MAPPING_H_ 00041 00042 #include "pcl/surface/reconstruction.h" 00043 #include "pcl/TextureMesh.h" 00044 00045 namespace pcl 00046 { 00051 template <typename PointInT> 00052 class TextureMapping 00053 { 00054 public: 00056 TextureMapping (){}; 00057 00059 ~TextureMapping (){}; 00060 00064 inline void 00065 setF (float f) 00066 { 00067 f_ = f; 00068 }; 00069 00073 inline void 00074 setVectorField (float x, float y, float z) 00075 { 00076 vector_field_ = Eigen::Vector3f(x, y, z); 00077 // normalize vector field 00078 vector_field_ = vector_field_/std::sqrt(vector_field_.dot(vector_field_)); 00079 }; 00080 00084 inline void 00085 setTextureFiles (std::vector<std::string> tex_files) 00086 { 00087 tex_files_ = tex_files; 00088 }; 00089 00093 inline void 00094 setTextureMaterials (TexMaterial tex_material) 00095 { 00096 tex_material_ = tex_material; 00097 }; 00098 00102 void 00103 mapTexture2Mesh (pcl::TextureMesh &tex_mesh); 00104 00108 void 00109 mapTexture2MeshUV (pcl::TextureMesh &tex_mesh); 00110 00111 protected: 00112 00114 float f_; 00115 00117 Eigen::Vector3f vector_field_; 00118 00120 std::vector<std::string> tex_files_; 00121 00123 TexMaterial tex_material_; 00124 00125 00129 float 00130 getDistance (Eigen::Vector3f &p1, Eigen::Vector3f &p2); 00131 00135 std::vector<Eigen::Vector2f> 00136 mapTexture2Face (Eigen::Vector3f &p1, Eigen::Vector3f &p2, Eigen::Vector3f &p3); 00137 00139 std::string getClassName () const { return ("TextureMapping"); } 00140 }; 00141 } 00142 00143 #endif /* TEXTURE_MAPPING_H_ */ 00144