W3cubDocs

/PointCloudLibrary

A point structure representing Euclidean xyz coordinates, and the RGB color. More...

#include <pcl/impl/point_types.hpp>

Public Member Functions

PointXYZRGB (const _PointXYZRGB &p)
PointXYZRGB ()
PointXYZRGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
PointXYZRGB (float _x, float _y, float _z)
PointXYZRGB (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)

Friends

std::ostream & operator<< (std::ostream &os, const PointXYZRGB &p)

Additional Inherited Members

- Public Attributes inherited from pcl::_PointXYZRGB
PCL_ADD_POINT4D
PCL_ADD_RGB

Detailed Description

A point structure representing Euclidean xyz coordinates, and the RGB color.

Due to historical reasons (PCL was first developed as a ROS package), the RGB information is packed into an integer and casted to a float. This is something we wish to remove in the near future, but in the meantime, the following code snippet should help you pack and unpack RGB colors in your PointXYZRGB structure:

// pack r/g/b into rgb
std::uint8_t r = 255, g = 0, b = 0; // Example: Red color
std::uint32_t rgb = ((std::uint32_t)r << 16 | (std::uint32_t)g << 8 | (std::uint32_t)b);
p.rgb = *reinterpret_cast<float*>(&rgb);

To unpack the data into separate values, use:

PointXYZRGB p;
// unpack rgb into r/g/b
std::uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
std::uint8_t r = (rgb >> 16) & 0x0000ff;
std::uint8_t g = (rgb >> 8) & 0x0000ff;
std::uint8_t b = (rgb) & 0x0000ff;

Alternatively, from 1.1.0 onwards, you can use p.r, p.g, and p.b directly.

Definition at line 678 of file point_types.hpp.

Constructor & Destructor Documentation

PointXYZRGB() [1/5]

pcl::PointXYZRGB::PointXYZRGB ( const _PointXYZRGB & p )
inline

Definition at line 680 of file point_types.hpp.

PointXYZRGB() [2/5]

pcl::PointXYZRGB::PointXYZRGB ( )
inline

Definition at line 686 of file point_types.hpp.

PointXYZRGB() [3/5]

pcl::PointXYZRGB::PointXYZRGB ( std::uint8_t _r,
std::uint8_t _g,
std::uint8_t _b
)
inline

Definition at line 688 of file point_types.hpp.

PointXYZRGB() [4/5]

pcl::PointXYZRGB::PointXYZRGB ( float _x,
float _y,
float _z
)
inline

Definition at line 691 of file point_types.hpp.

PointXYZRGB() [5/5]

pcl::PointXYZRGB::PointXYZRGB ( float _x,
float _y,
float _z,
std::uint8_t _r,
std::uint8_t _g,
std::uint8_t _b
)
inline

Definition at line 694 of file point_types.hpp.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream & os,
const PointXYZRGB & p
)
friend
The documentation for this struct was generated from the following file:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/structpcl_1_1_point_x_y_z_r_g_b.html