Point Cloud Library (PCL)  1.3.1
TextureMesh.h
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00001 /*
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00036  * $Id: TextureMesh.h 3006 2011-10-31 23:25:06Z rusu $
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00039 
00040 #ifndef PCL_TEXTUREMESH_H_
00041 #define PCL_TEXTUREMESH_H_
00042 
00043 #include <Eigen/Core>
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     struct RGB
00056     {
00057       float r;
00058       float g;
00059       float b;
00060     }; //RGB
00061 
00063     std::string tex_name;
00064 
00066     std::string tex_file;
00067 
00069     RGB         tex_Ka;
00070 
00072     RGB         tex_Kd;
00073 
00075     RGB         tex_Ks;
00076 
00078     float       tex_d;
00079 
00081     float       tex_Ns;
00082 
00088     int         tex_illum;
00089   }; // TexMaterial
00090 
00092   struct TextureMesh
00093   {
00094     TextureMesh () {}
00095 
00096     std_msgs::Header          header;
00097     sensor_msgs::PointCloud2  cloud;
00098 
00099     std::vector<std::vector<pcl::Vertices> >    tex_polygons;     // polygon which is mapped with specific texture defined in TexMaterial
00100     std::vector<std::vector<Eigen::Vector2f> >  tex_coordinates;  // UV coordinates
00101     std::vector<pcl::TexMaterial>               tex_materials;    // define texture material
00102 
00103     public:
00104       typedef boost::shared_ptr<pcl::TextureMesh> Ptr;
00105       typedef boost::shared_ptr<pcl::TextureMesh const> ConstPtr;
00106    }; // struct TextureMesh
00107 
00108    typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr;
00109    typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr;
00110 } // namespace pcl
00111 
00112 #endif /* PCL_TEXTUREMESH_H_ */
00113 
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