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:

Collaboration diagram for pcl::PointXYZRGB:

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

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 593 of file point_types.hpp.

Constructor & Destructor Documentation

PointXYZRGB() [1/5]

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

inlineconstexpr

Definition at line 595 of file point_types.hpp.

PointXYZRGB() [2/5]

constexpr pcl::PointXYZRGB::PointXYZRGB ( )

inlineconstexpr

Definition at line 597 of file point_types.hpp.

PointXYZRGB() [3/5]

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

inlineconstexpr

Definition at line 599 of file point_types.hpp.

PointXYZRGB() [4/5]

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

inlineconstexpr

Definition at line 602 of file point_types.hpp.

PointXYZRGB() [5/5]

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

inlineconstexpr

Definition at line 605 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