Point Cloud Library (PCL)  1.15.0-dev
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pcl::PointXYZRGBNormal Struct Reference
Module common

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:
+ Collaboration diagram for pcl::PointXYZRGBNormal:

Public Member Functions

constexpr PointXYZRGBNormal (const _PointXYZRGBNormal &p)
 
constexpr PointXYZRGBNormal (float _curvature=0.f)
 
constexpr PointXYZRGBNormal (float _x, float _y, float _z)
 
constexpr PointXYZRGBNormal (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
 
constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b)
 
constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, float n_x, float n_y, float n_z, float _curvature=0.f)
 
constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a, float n_x, float n_y, float n_z, float _curvature=0.f)
 

Friends

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

Additional Inherited Members

- Public Attributes inherited from pcl::_PointXYZRGBNormal
union {
   struct {
      PCL_ADD_UNION_RGB 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
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;
pcl::device::PointXYZRGB
float4 PointXYZRGB
Definition: internal.hpp:60

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

Definition at line 912 of file point_types.hpp.

Constructor & Destructor Documentation

◆ PointXYZRGBNormal() [1/7]

constexpr pcl::PointXYZRGBNormal::PointXYZRGBNormal ( const _PointXYZRGBNormal &  p)
inlineconstexpr

Definition at line 914 of file point_types.hpp.

◆ PointXYZRGBNormal() [2/7]

constexpr pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _curvature = 0.f)
inlineconstexpr

Definition at line 917 of file point_types.hpp.

◆ PointXYZRGBNormal() [3/7]

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

Definition at line 920 of file point_types.hpp.

◆ PointXYZRGBNormal() [4/7]

constexpr pcl::PointXYZRGBNormal::PointXYZRGBNormal ( std::uint8_t  _r,
std::uint8_t  _g,
std::uint8_t  _b 
)
inlineconstexpr

Definition at line 923 of file point_types.hpp.

◆ PointXYZRGBNormal() [5/7]

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

Definition at line 926 of file point_types.hpp.

◆ PointXYZRGBNormal() [6/7]

constexpr pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _x,
float  _y,
float  _z,
std::uint8_t  _r,
std::uint8_t  _g,
std::uint8_t  _b,
float  n_x,
float  n_y,
float  n_z,
float  _curvature = 0.f 
)
inlineconstexpr

Definition at line 929 of file point_types.hpp.

◆ PointXYZRGBNormal() [7/7]

constexpr pcl::PointXYZRGBNormal::PointXYZRGBNormal ( float  _x,
float  _y,
float  _z,
std::uint8_t  _r,
std::uint8_t  _g,
std::uint8_t  _b,
std::uint8_t  _a,
float  n_x,
float  n_y,
float  n_z,
float  _curvature = 0.f 
)
inlineconstexpr

Definition at line 938 of file point_types.hpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<< ( std::ostream &  os,
const PointXYZRGBNormal &  p 
)
friend
The documentation for this struct was generated from the following file: