A point structure representing Euclidean xyz coordinates, and the RGB color. More...
#include <point_types.hpp>
Public Member Functions | |
| Eigen::Vector3i | getRGBVector3i () |
| const Eigen::Vector3i | getRGBVector3i () const |
| Eigen::Vector4i | getRGBVector4i () |
| const Eigen::Vector4i | getRGBVector4i () const |
| PointXYZRGB () | |
| PointXYZRGB (uint8_t _r, uint8_t _g, uint8_t _b) | |
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 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 419 of file point_types.hpp.
Constructor & Destructor Documentation
| pcl::PointXYZRGB::PointXYZRGB | ( | ) | [inline] |
Definition at line 421 of file point_types.hpp.
| pcl::PointXYZRGB::PointXYZRGB | ( | uint8_t | _r, |
| uint8_t | _g, | ||
| uint8_t | _b | ||
| ) | [inline] |
Definition at line 427 of file point_types.hpp.
Member Function Documentation
| Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i | ( | ) | [inline] |
Definition at line 437 of file point_types.hpp.
| const Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i | ( | ) | const [inline] |
Definition at line 438 of file point_types.hpp.
| Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i | ( | ) | [inline] |
Definition at line 439 of file point_types.hpp.
| const Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i | ( | ) | const [inline] |
Definition at line 440 of file point_types.hpp.
The documentation for this struct was generated from the following file: