Point Cloud Library (PCL)  1.12.1-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:
+ 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)
 

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;
constexpr PointXYZRGB()

Alternatively, from 1.1.0 onwards, you can use p.r, p.g, and p.b directly.

Definition at line 622 of file point_types.hpp.

Constructor & Destructor Documentation

◆ PointXYZRGB() [1/5]

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

Definition at line 624 of file point_types.hpp.

◆ PointXYZRGB() [2/5]

constexpr pcl::PointXYZRGB::PointXYZRGB ( )
inlineconstexpr

Definition at line 626 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 628 of file point_types.hpp.

◆ PointXYZRGB() [4/5]

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

Definition at line 631 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 634 of file point_types.hpp.

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: