pcl::_PointXYZRGBNormal Struct Reference

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 Attributes
	PCL_ADD_POINT4D
	PCL_ADD_NORMAL4D
union {
struct {
union {
struct {
uint8_t   b
uint8_t   g
uint8_t   r
uint8_t   a
}
float   rgb
uint32_t   rgba
}
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
uint8_t r = 255, g = 0, b = 0;    // Example: Red color
uint32_t rgb = ((uint32_t)r << 16 | (uint32_t)g << 8 | (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
uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
uint8_t r = (rgb >> 16) & 0x0000ff;
uint8_t g = (rgb >> 8)  & 0x0000ff;
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 694 of file point_types.hpp.

Member Data Documentation

union { ... }

uint8_t pcl::_PointXYZRGBNormal::a

Definition at line 710 of file point_types.hpp.

uint8_t pcl::_PointXYZRGBNormal::b

Definition at line 707 of file point_types.hpp.

float pcl::_PointXYZRGBNormal::curvature

Definition at line 715 of file point_types.hpp.

float pcl::_PointXYZRGBNormal::data_c[4]

Definition at line 717 of file point_types.hpp.

uint8_t pcl::_PointXYZRGBNormal::g

Definition at line 708 of file point_types.hpp.

pcl::_PointXYZRGBNormal::PCL_ADD_NORMAL4D

Definition at line 697 of file point_types.hpp.

pcl::_PointXYZRGBNormal::PCL_ADD_POINT4D

Definition at line 696 of file point_types.hpp.

uint8_t pcl::_PointXYZRGBNormal::r

Definition at line 709 of file point_types.hpp.

float pcl::_PointXYZRGBNormal::rgb

Definition at line 712 of file point_types.hpp.

uint32_t pcl::_PointXYZRGBNormal::rgba

Definition at line 713 of file point_types.hpp.

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

• /builddir/build/BUILD/PCL-1.6.0-Source/common/include/pcl/impl/point_types.hpp