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: More...
#include <point_types.hpp>
Public Member Functions | |
| Eigen::Vector3i | getRGBVector3i () |
| const Eigen::Vector3i | getRGBVector3i () const |
| Eigen::Vector4i | getRGBVector4i () |
| const Eigen::Vector4i | getRGBVector4i () const |
| PointXYZRGBNormal (const _PointXYZRGBNormal &p) | |
| PointXYZRGBNormal () | |
Friends | |
| std::ostream & | operator<< (std::ostream &os, const PointXYZRGBNormal &p) |
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 900 of file point_types.hpp.
Constructor & Destructor Documentation
| pcl::PointXYZRGBNormal::PointXYZRGBNormal | ( | const _PointXYZRGBNormal & | p | ) | [inline] |
Definition at line 902 of file point_types.hpp.
| pcl::PointXYZRGBNormal::PointXYZRGBNormal | ( | ) | [inline] |
Definition at line 910 of file point_types.hpp.
Member Function Documentation
| Eigen::Vector3i pcl::PointXYZRGBNormal::getRGBVector3i | ( | ) | [inline] |
Definition at line 919 of file point_types.hpp.
| const Eigen::Vector3i pcl::PointXYZRGBNormal::getRGBVector3i | ( | ) | const [inline] |
Definition at line 923 of file point_types.hpp.
| Eigen::Vector4i pcl::PointXYZRGBNormal::getRGBVector4i | ( | ) | [inline] |
Definition at line 924 of file point_types.hpp.
| const Eigen::Vector4i pcl::PointXYZRGBNormal::getRGBVector4i | ( | ) | const [inline] |
Definition at line 928 of file point_types.hpp.
Friends And Related Function Documentation
| std::ostream& operator<< | ( | std::ostream & | os, |
| const PointXYZRGBNormal & | p | ||
| ) | [friend] |
The documentation for this struct was generated from the following file: