Point Cloud Library (PCL)
1.9.1
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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 () | |
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 { | |
PCL_ADD_UNION_RGB | |
float curvature | |
} | |
float data_c [4] | |
}; | |
PCL_ADD_EIGEN_MAPS_RGB | |
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 938 of file point_types.hpp.
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inline |
Definition at line 940 of file point_types.hpp.
References pcl::_PointXYZRGBNormal::curvature.
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inline |
Definition at line 948 of file point_types.hpp.
References pcl::operator<<().
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friend |