对于PointXYZRGB类型读取RGB信息:
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
方法一
int r = cloud->points[i].r;
int g = cloud->points[i].g;
int b = cloud->points[i].b;
方法二
unsigned long rgb = *reinterpret_cast<int*>(&cloud->points[i].rgb)