TextureMesh.h

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 * $Id: TextureMesh.h 5295 2012-03-25 19:03:32Z rusu $
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#ifndef PCL_TEXTUREMESH_H_
#define PCL_TEXTUREMESH_H_

#include <pcl/common/eigen.h>
#include <std_msgs/Header.h>
#include <pcl/PolygonMesh.h>
#include <string>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/Vertices.h>

namespace pcl
{
  struct TexMaterial
  {
    TexMaterial () : tex_name (), tex_file (), tex_Ka (), tex_Kd (), tex_Ks (), tex_d (), tex_Ns (), tex_illum () {}

    struct RGB
    {
      float r;
      float g;
      float b;
    }; //RGB

    std::string tex_name;

    std::string tex_file;

    RGB         tex_Ka;

    RGB         tex_Kd;

    RGB         tex_Ks;

    float       tex_d;

    float       tex_Ns;

    int         tex_illum;
  }; // TexMaterial

  struct TextureMesh
  {
    TextureMesh () : 
      header (), cloud (), tex_polygons (), tex_coordinates (), tex_materials () {}

    std_msgs::Header          header;
    sensor_msgs::PointCloud2  cloud;

    std::vector<std::vector<pcl::Vertices> >    tex_polygons;     // polygon which is mapped with specific texture defined in TexMaterial
    std::vector<std::vector<Eigen::Vector2f> >  tex_coordinates;  // UV coordinates
    std::vector<pcl::TexMaterial>               tex_materials;    // define texture material

    public:
      typedef boost::shared_ptr<pcl::TextureMesh> Ptr;
      typedef boost::shared_ptr<pcl::TextureMesh const> ConstPtr;
   }; // struct TextureMesh

   typedef boost::shared_ptr<pcl::TextureMesh> TextureMeshPtr;
   typedef boost::shared_ptr<pcl::TextureMesh const> TextureMeshConstPtr;
} // namespace pcl

#endif /* PCL_TEXTUREMESH_H_ */