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]

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

inlineconstexpr

Definition at line 595 of file point_types.hpp.

References PointXYZRGB().

Referenced by operator<<, PointXYZRGB(), PointXYZRGB(), PointXYZRGB(), and PointXYZRGB().

PointXYZRGB() [2/5]

pcl::PointXYZRGB::PointXYZRGB ( )

inlineconstexpr

Definition at line 597 of file point_types.hpp.

References PointXYZRGB().

PointXYZRGB() [3/5]

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.

References PointXYZRGB().

PointXYZRGB() [4/5]

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

inlineconstexpr

Definition at line 602 of file point_types.hpp.

References PointXYZRGB().

PointXYZRGB() [5/5]

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 Symbol Documentation

operator<<

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

friend

References PCL_MAKE_ALIGNED_OPERATOR_NEW, and PointXYZRGB().

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

• pcl/impl/point_types.hpp