pcl::PointXYZRGB Struct Reference

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

#include <pcl/impl/point_types.hpp>

Inheritance diagram for pcl::PointXYZRGB:

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 628 of file point_types.hpp.

Constructor & Destructor Documentation

PointXYZRGB() [1/5]

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

inline

Definition at line 630 of file point_types.hpp.

PointXYZRGB() [2/5]

pcl::PointXYZRGB::PointXYZRGB ( )

inline

Definition at line 636 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 638 of file point_types.hpp.

PointXYZRGB() [4/5]

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

inline

Definition at line 641 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 644 of file point_types.hpp.

Friends And Related Function Documentation

operator<<

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

friend

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

• pcl/impl/point_types.hpp