Point Cloud Library (PCL) 1.15.1
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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:

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::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:594

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]

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

Definition at line 914 of file point_types.hpp.

References pcl::_PointXYZRGBNormal::curvature, and PointXYZRGBNormal().

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

◆ PointXYZRGBNormal() [2/7]

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

Definition at line 917 of file point_types.hpp.

References PointXYZRGBNormal().

◆ PointXYZRGBNormal() [3/7]

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

Definition at line 920 of file point_types.hpp.

References PointXYZRGBNormal().

◆ PointXYZRGBNormal() [4/7]

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.

References PointXYZRGBNormal().

◆ PointXYZRGBNormal() [5/7]

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.

References PointXYZRGBNormal().

◆ PointXYZRGBNormal() [6/7]

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]

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.

◆ operator<<

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

References PointXYZRGBNormal().

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