Point Cloud Library (PCL)  1.7.0
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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 ()
 
Eigen::Vector3i getRGBVector3i ()
 
const Eigen::Vector3i getRGBVector3i () const
 
Eigen::Vector4i getRGBVector4i ()
 
const Eigen::Vector4i getRGBVector4i () const
 

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 {
      union {
         struct {
            uint8_t   b
 
            uint8_t   g
 
            uint8_t   r
 
            uint8_t   a
 
         } 
 
         float   rgb
 
         uint32_t   rgba
 
      } 
 
      float   curvature
 
   } 
 
   float   data_c [4]
 
}; 
 

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
uint8_t r = 255, g = 0, b = 0; // Example: Red color
uint32_t rgb = ((uint32_t)r << 16 | (uint32_t)g << 8 | (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
uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
uint8_t r = (rgb >> 16) & 0x0000ff;
uint8_t g = (rgb >> 8) & 0x0000ff;
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 900 of file point_types.hpp.

Constructor & Destructor Documentation

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

Member Function Documentation

Eigen::Vector3i pcl::PointXYZRGBNormal::getRGBVector3i ( )
inline
const Eigen::Vector3i pcl::PointXYZRGBNormal::getRGBVector3i ( ) const
inline
Eigen::Vector4i pcl::PointXYZRGBNormal::getRGBVector4i ( )
inline
const Eigen::Vector4i pcl::PointXYZRGBNormal::getRGBVector4i ( ) const
inline

Friends And Related Function Documentation

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

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