Point Cloud Library (PCL)  1.9.1-dev
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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)
 

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:

// 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 623 of file point_types.hpp.

Constructor & Destructor Documentation

◆ PointXYZRGB() [1/3]

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

Definition at line 625 of file point_types.hpp.

◆ PointXYZRGB() [2/3]

pcl::PointXYZRGB::PointXYZRGB ( )
inline

Definition at line 631 of file point_types.hpp.

◆ PointXYZRGB() [3/3]

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.

References pcl::operator<<(), PCL_EXPORTS, and PCL_MAKE_ALIGNED_OPERATOR_NEW.

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: