Point Cloud Library (PCL)
1.3.1
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A point structure representing Euclidean xyz coordinates, and the RGB color. More...
#include <pcl/impl/point_types.hpp>
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 | |
}; |
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.
pcl::PointXYZRGB::PointXYZRGB | ( | ) | [inline] |
Definition at line 394 of file point_types.hpp.
pcl::PointXYZRGB::PointXYZRGB | ( | uint8_t | _r, |
uint8_t | _g, | ||
uint8_t | _b | ||
) | [inline] |
Definition at line 398 of file point_types.hpp.
Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i | ( | ) | [inline] |
Definition at line 406 of file point_types.hpp.
const Eigen::Vector3i pcl::PointXYZRGB::getRGBVector3i | ( | ) | const [inline] |
Definition at line 407 of file point_types.hpp.
Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i | ( | ) | [inline] |
Definition at line 408 of file point_types.hpp.
const Eigen::Vector4i pcl::PointXYZRGB::getRGBVector4i | ( | ) | const [inline] |
Definition at line 409 of file point_types.hpp.
union { ... } [inherited] |
uint8_t pcl::_PointXYZRGB::_unused [inherited] |
Definition at line 334 of file point_types.hpp.
uint8_t pcl::_PointXYZRGB::b [inherited] |
Definition at line 331 of file point_types.hpp.
uint8_t pcl::_PointXYZRGB::g [inherited] |
Definition at line 332 of file point_types.hpp.
pcl::_PointXYZRGB::PCL_ADD_POINT4D [inherited] |
Definition at line 324 of file point_types.hpp.
uint8_t pcl::_PointXYZRGB::r [inherited] |
Definition at line 333 of file point_types.hpp.
float pcl::_PointXYZRGB::rgb [inherited] |
Definition at line 336 of file point_types.hpp.
uint32_t pcl::_PointXYZRGB::rgba [inherited] |
Definition at line 338 of file point_types.hpp.