pcl::PointXYZRGBNormal Struct Reference

A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coordinates and the surface curvature estimate. More...

#include <pcl/impl/point_types.hpp>

Inheritance diagram for pcl::PointXYZRGBNormal:

Public Member Functions
	PointXYZRGBNormal (const _PointXYZRGBNormal &p)
	PointXYZRGBNormal (float _curvature=0.f)
	PointXYZRGBNormal (float _x, float _y, float _z)
	PointXYZRGBNormal (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
	PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
	PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, float n_x, float n_y, float n_z, float _curvature=0.f)

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

Additional Inherited Members
Public Attributes inherited from pcl::_PointXYZRGBNormal
	PCL_ADD_POINT4D
	PCL_ADD_NORMAL4D
union {
struct {
PCL_ADD_UNION_RGB
float   curvature
}
float   data_c [4]
};
	PCL_ADD_EIGEN_MAPS_RGB

Detailed Description

A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coordinates and the surface curvature estimate.

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 959 of file point_types.hpp.

Constructor & Destructor Documentation

PointXYZRGBNormal() [1/6]

pcl::PointXYZRGBNormal::PointXYZRGBNormal ( const _PointXYZRGBNormal &  p )

inline

Definition at line 961 of file point_types.hpp.

References pcl::_PointXYZRGBNormal::curvature.

PointXYZRGBNormal() [2/6]

pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _curvature = 0.f )

inline

Definition at line 969 of file point_types.hpp.

PointXYZRGBNormal() [3/6]

pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _x, float  _y, float  _z  )

inline

Definition at line 972 of file point_types.hpp.

PointXYZRGBNormal() [4/6]

pcl::PointXYZRGBNormal::PointXYZRGBNormal ( std::uint8_t  _r, std::uint8_t  _g, std::uint8_t  _b  )

inline

Definition at line 975 of file point_types.hpp.

PointXYZRGBNormal() [5/6]

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

inline

Definition at line 978 of file point_types.hpp.

PointXYZRGBNormal() [6/6]

pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _x, float  _y, float  _z, std::uint8_t  _r, std::uint8_t  _g, std::uint8_t  _b, float  n_x, float  n_y, float  n_z, float  _curvature = 0.f  )

inline

Definition at line 981 of file point_types.hpp.

References pcl::_PointXYZRGBNormal::curvature.

Friends And Related Function Documentation

operator<<

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

friend

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The documentation for this struct was generated from the following file:

• pcl/impl/point_types.hpp