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;

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