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:

List of all members.

Public Member Functions
	PointXYZRGB ()
	PointXYZRGB (uint8_t _r, uint8_t _g, uint8_t _b)
Eigen::Vector3i	getRGBVector3i ()
const Eigen::Vector3i	getRGBVector3i () const
Eigen::Vector4i	getRGBVector4i ()
const Eigen::Vector4i	getRGBVector4i () const
Public Attributes
	PCL_ADD_POINT4D
union {
union {
struct {
uint8_t   b
uint8_t   g
uint8_t   r
uint8_t   _unused
}
float   rgb
}
uint32_t   rgba
};

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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 425 of file point_types.hpp.

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Constructor & Destructor Documentation

pcl::PointXYZRGB::PointXYZRGB

(

)

[inline]

Definition at line 427 of file point_types.hpp.

pcl::PointXYZRGB::PointXYZRGB	(	uint8_t	_r,
		uint8_t	_g,
		uint8_t	_b
	)		[inline]

Definition at line 433 of file point_types.hpp.

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Member Function Documentation

Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i

(

)

[inline]

Definition at line 443 of file point_types.hpp.

const Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i

(

)

const [inline]

Definition at line 444 of file point_types.hpp.

Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i

(

)

[inline]

Definition at line 445 of file point_types.hpp.

const Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i

(

)

const [inline]

Definition at line 446 of file point_types.hpp.

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Member Data Documentation

union { ... } [inherited]

uint8_t pcl::_PointXYZRGB::_unused [inherited]

Definition at line 362 of file point_types.hpp.

uint8_t pcl::_PointXYZRGB::b [inherited]

Definition at line 359 of file point_types.hpp.

uint8_t pcl::_PointXYZRGB::g [inherited]

Definition at line 360 of file point_types.hpp.

pcl::_PointXYZRGB::PCL_ADD_POINT4D [inherited]

Definition at line 352 of file point_types.hpp.

uint8_t pcl::_PointXYZRGB::r [inherited]

Definition at line 361 of file point_types.hpp.

float pcl::_PointXYZRGB::rgb [inherited]

Definition at line 364 of file point_types.hpp.

uint32_t pcl::_PointXYZRGB::rgba [inherited]

Definition at line 366 of file point_types.hpp.

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

• /builddir/build/BUILD/PCL-1.5.1-Source/common/include/pcl/impl/point_types.hpp