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Document the RGBA structure #6128

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Document the RGBA structure #6128

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26 changes: 14 additions & 12 deletions common/include/pcl/impl/point_types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -342,20 +342,20 @@ namespace pcl
PCL_EXPORTS std::ostream& operator << (std::ostream& os, const RGB& p);
/** \brief A structure representing RGB color information.
*
* The RGBA information is available either as separate r, g, b, or as a
* packed std::uint32_t rgba value. To pack it, use:
* The RGB information is available either as separate r, g, b or as a
* packed std::uint32_t rgb value. To pack it, use:
*
* \code
* int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
* std::uint32_t rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
* \endcode
*
* To unpack it use:
*
* \code
* int rgb = ...;
* std::uint32_t rgb = p.rgba;
* std::uint8_t r = (rgb >> 16) & 0x0000ff;
* std::uint8_t g = (rgb >> 8) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
* \endcode
*
*/
Expand Down Expand Up @@ -506,20 +506,22 @@ namespace pcl
PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
/** \brief A point structure representing Euclidean xyz coordinates, and the RGBA color.
*
* The RGBA information is available either as separate r, g, b, or as a
* packed std::uint32_t rgba value. To pack it, use:
* The RGBA information is available either as separate r, g, b and a uint8_t values,
* or as a packed std::uint32_t rgba value. To pack it, use:
*
* \code
* int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
* std::uint32_t rgba = ((std::uint32_t)a << 24 | ((std::uint32_t)r << 16 | ((std::uint32_t)g << 8) | b;
* \endcode
*
* To unpack it use:
*
* \code
* int rgb = ...;
* // unpack rgb into r/g/b
* std::uint32_t rgb = p.rgba;
* std::uint8_t a = (rgb >> 24) & 0x0000ff;
* std::uint8_t r = (rgb >> 16) & 0x0000ff;
* std::uint8_t g = (rgb >> 8) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
* \endcode
*
* \ingroup common
Expand Down Expand Up @@ -579,7 +581,7 @@ namespace pcl
* \code
* PointXYZRGB p;
* // unpack rgb into r/g/b
* std::uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
* std::uint32_t rgb = p.rgb;
* std::uint8_t r = (rgb >> 16) & 0x0000ff;
* std::uint8_t g = (rgb >> 8) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
Expand Down Expand Up @@ -899,7 +901,7 @@ namespace pcl
* \code
* PointXYZRGB p;
* // unpack rgb into r/g/b
* std::uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
* std::uint32_t rgb = p.rgba;
* std::uint8_t r = (rgb >> 16) & 0x0000ff;
* std::uint8_t g = (rgb >> 8) & 0x0000ff;
* std::uint8_t b = (rgb) & 0x0000ff;
Expand Down