Point Type

Header: pcl/point_types.h Implementation: pcl/impl/point_types.hpp

Intensity

• 4 bytes

• Members: float intensity

• intensity = 0.0f;

Label

• 4 bytes

• Members: uint32_t label

RGB

• 4 bytes

• Members: uint32_t rgba

• r = g = b = 0; a = 255;

PointXY

• 8 bytes

• Members: float x, y

PointXYZ

• 16 bytes (12 bytes used)

• Members: float x, y, z

• data[3] = 1.0f;

PointXYZI

• 32 bytes (12 bytes + 4 bytes used)

• Members: float x, y, z; float intensity

• data[3] = 1.0f;

• intensity = 0.0f;

PointXYZL

• 32 bytes (12 bytes + 4 bytes used)

• Members: float x, y, z; uint32_t label

• data[3] = 1.0f;

• label = 0;

PointXYZRGB

• 32 bytes (12 bytes + 4 bytes used)

• Members: float x, y, z; uint32_t rgba

• data[3] = 1.0f;

• r = g = b = 0; a = 255;

PointXYZRGBA

• 32 bytes (12 bytes + 4 bytes used)

• Members: float x, y, z; uint32_t rgba

• data[3] = 1.0f;

• r = g = b = 0; a = 255;

PointXYZRGBL

• 32 bytes (12 bytes + 8 bytes used)

• Members: float x, y, z; uint32_t rgba, label

• data[3] = 1.0f;

• r = g = b = 0; a = 255;

• label = 0;

Normal

• 32 bytes (12 bytes + 4 bytes used)

• Members: float normal[3]; float curvature

• data_n[3] = 0.0f;

• curvature = 0;

PointWithScale

• 32 bytes (12 bytes + 16 bytes used)

• Members: float x, y, z; float scale, angle, response, octave

• data[3] = 1.0f;

• scale = 1.0f;

• angle = -1.0f;

• response = 0.0f;

• octave = 0;

PointNormal

• 48 bytes (12 bytes + 12 bytes + 4 bytes used)

• Members: float x, y, z; float normal[3]; float curvature

• data[3] = 1.0f;

• data_n[3] = 0.0f;

• curvature = 0;

PointXYZRGBNormal

• 48 bytes (12 bytes + 12 bytes + 8 bytes used)

• Members: float x, y, z; float normal[3]; uint32_t rgba, float curvature

• data[3] = 1.0f;

• data_n[3] = 0.0f;

• r = g = b = 0; a = 255;

• curvature = 0;

PointSurfel

• 48 bytes (12 bytes + 12 bytes + 16 bytes used)

• Members: float x, y, z; float normal[3]; uint32_t rgba, float radius, confidence, curvature

• data[3] = 1.0f;

• data_n[3] = 0.0f;

• r = g = b = 0; a = 255;

• radius = confidence = curvature = 0.0f;