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:

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Collaboration diagram for pcl::_PointXYZRGBNormal:

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List of all members.

Public Attributes
	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]
};

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 694 of file point_types.hpp.