Point Cloud Library (PCL)
1.7.0
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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>
Public Member Functions | |
PointXYZRGBNormal (const _PointXYZRGBNormal &p) | |
PointXYZRGBNormal () | |
Eigen::Vector3i | getRGBVector3i () |
const Eigen::Vector3i | getRGBVector3i () const |
Eigen::Vector4i | getRGBVector4i () |
const Eigen::Vector4i | getRGBVector4i () const |
Friends | |
std::ostream & | operator<< (std::ostream &os, const PointXYZRGBNormal &p) |
Additional Inherited Members | |
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PCL_ADD_POINT4D | |
PCL_ADD_NORMAL4D | |
union { | |
struct { | |
union { | |
struct { | |
uint8_t b | |
uint8_t g | |
uint8_t r | |
uint8_t a | |
} | |
float rgb | |
uint32_t rgba | |
} | |
float curvature | |
} | |
float data_c [4] | |
}; | |
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:
To unpack the data into separate values, use:
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.
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Definition at line 902 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::curvature, and pcl::_PointXYZRGBNormal::rgba.
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Definition at line 910 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::a, pcl::_PointXYZRGBNormal::b, pcl::_PointXYZRGBNormal::curvature, pcl::_PointXYZRGBNormal::g, and pcl::_PointXYZRGBNormal::r.
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Definition at line 919 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::b, pcl::_PointXYZRGBNormal::g, and pcl::_PointXYZRGBNormal::r.
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Definition at line 923 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::b, pcl::_PointXYZRGBNormal::g, and pcl::_PointXYZRGBNormal::r.
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Definition at line 924 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::a, pcl::_PointXYZRGBNormal::b, pcl::_PointXYZRGBNormal::g, and pcl::_PointXYZRGBNormal::r.
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Definition at line 928 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::a, pcl::_PointXYZRGBNormal::b, pcl::_PointXYZRGBNormal::g, and pcl::_PointXYZRGBNormal::r.
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