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;
 
 
    /** \brief polygon which is mapped with specific texture defined in TexMaterial */
    std::vector<std::vector<pcl::Vertices> >    tex_polygons;
    /** \brief UV coordinates */
    std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > tex_coordinates;
    /** \brief define texture material */
    std::vector<pcl::TexMaterial>               tex_materials;
    /** \brief Specifies which texture coordinates from tex_coordinates each polygon/face uses.
      * The vectors must have the same sizes as in tex_polygons, but the pcl::Vertices
      * may be empty for those polygons/faces that do not use coordinates.
      */
    std::vector<std::vector<pcl::Vertices> >    tex_coord_indices;
 
    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