TextureMesh.h
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#pragma once
#include <Eigen/Core>
#include <string>
#include <pcl/PCLPointCloud2.h>
#include <pcl/Vertices.h>
namespace pcl
{
/** \author Khai Tran */
struct TexMaterial
{
struct RGB
{
float r = 0;
float g = 0;
float b = 0;
}; //RGB
/** \brief Texture name. */
std::string tex_name;
/** \brief Texture file. */
std::string tex_file;
/** \brief Defines the ambient color of the material to be (r,g,b). */
RGB tex_Ka;
/** \brief Defines the diffuse color of the material to be (r,g,b). */
RGB tex_Kd;
/** \brief Defines the specular color of the material to be (r,g,b). This color shows up in highlights. */
RGB tex_Ks;
/** \brief Defines the transparency of the material to be alpha. */
float tex_d;
/** \brief Defines the shininess of the material to be s. */
float tex_Ns;
/** \brief Denotes the illumination model used by the material.
*
* illum = 1 indicates a flat material with no specular highlights, so the value of Ks is not used.
* illum = 2 denotes the presence of specular highlights, and so a specification for Ks is required.
*/
int tex_illum;
}; // TexMaterial
/** \author Khai Tran */
struct TextureMesh
{
pcl::PCLPointCloud2 cloud;
pcl::PCLHeader header;
std::vector<std::vector<pcl::Vertices> > tex_polygons; // polygon which is mapped with specific texture defined in TexMaterial
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates; // UV coordinates
std::vector<pcl::TexMaterial> tex_materials; // define texture material
public:
using Ptr = shared_ptr<pcl::TextureMesh>;
using ConstPtr = shared_ptr<const pcl::TextureMesh>;
}; // struct TextureMesh
using TextureMeshPtr = TextureMesh::Ptr;
using TextureMeshConstPtr = TextureMesh::ConstPtr;
} // namespace pcl
pcl
Definition: convolution.h:46
pcl::TextureMeshPtr
TextureMesh::Ptr TextureMeshPtr
Definition: TextureMesh.h:103
pcl::TextureMeshConstPtr
TextureMesh::ConstPtr TextureMeshConstPtr
Definition: TextureMesh.h:104
pcl::PCLHeader
Definition: PCLHeader.h:11
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:17
pcl::TexMaterial::RGB
Definition: TextureMesh.h:52
pcl::TexMaterial::RGB::g
float g
Definition: TextureMesh.h:54
pcl::TexMaterial::RGB::b
float b
Definition: TextureMesh.h:55
pcl::TexMaterial::RGB::r
float r
Definition: TextureMesh.h:53
pcl::TexMaterial
Definition: TextureMesh.h:50
pcl::TexMaterial::tex_d
float tex_d
Defines the transparency of the material to be alpha.
Definition: TextureMesh.h:74
pcl::TexMaterial::tex_Kd
RGB tex_Kd
Defines the diffuse color of the material to be (r,g,b).
Definition: TextureMesh.h:68
pcl::TexMaterial::tex_Ka
RGB tex_Ka
Defines the ambient color of the material to be (r,g,b).
Definition: TextureMesh.h:65
pcl::TexMaterial::tex_Ks
RGB tex_Ks
Defines the specular color of the material to be (r,g,b).
Definition: TextureMesh.h:71
pcl::TexMaterial::tex_name
std::string tex_name
Texture name.
Definition: TextureMesh.h:59
pcl::TexMaterial::tex_file
std::string tex_file
Texture file.
Definition: TextureMesh.h:62
pcl::TexMaterial::tex_illum
int tex_illum
Denotes the illumination model used by the material.
Definition: TextureMesh.h:84
pcl::TexMaterial::tex_Ns
float tex_Ns
Defines the shininess of the material to be s.
Definition: TextureMesh.h:77
pcl::TextureMesh
Definition: TextureMesh.h:89
pcl::TextureMesh::tex_polygons
std::vector< std::vector< pcl::Vertices > > tex_polygons
Definition: TextureMesh.h:94
pcl::TextureMesh::tex_coordinates
std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f > > > tex_coordinates
Definition: TextureMesh.h:95
pcl::TextureMesh::header
pcl::PCLHeader header
Definition: TextureMesh.h:91
pcl::TextureMesh::tex_materials
std::vector< pcl::TexMaterial > tex_materials
Definition: TextureMesh.h:96
pcl::TextureMesh::cloud
pcl::PCLPointCloud2 cloud
Definition: TextureMesh.h:90
pcl::TextureMesh::ConstPtr
shared_ptr< const pcl::TextureMesh > ConstPtr
Definition: TextureMesh.h:100
pcl::TextureMesh::Ptr
shared_ptr< pcl::TextureMesh > Ptr
Definition: TextureMesh.h:99