Suppress strict alias warning #2072
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SergioRAgostinho
changed the title
| @@ -231,7 +231,7 @@ main (int argc, char ** argv) | |||
| } | |||
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| uint32_t rgb = static_cast<uint32_t>(color_pixel[0]) << 16 | static_cast<uint32_t>(color_pixel[1]) << 8 | static_cast<uint32_t>(color_pixel[2]); | |||
| new_point.rgb = *reinterpret_cast<float*> (&rgb); | |||
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I think this piece of code has a problem. The rgb variable has its upper bits set to zeros, so new_point.rgb upper bits are zero as well. new_point is actually a PointXYZRGBA point, so the upper bits will be considered e.g. during visualization. And, surprise-surprise, the point will not show up, because zero Alpha means fully transparent.
I think we should rather assign color components of new_point individually.
| @@ -324,7 +324,8 @@ namespace pcl | |||
| if (convertToMono) | |||
| { | |||
| // Encode point color | |||
| const uint32_t rgb = *reinterpret_cast<const int*> (&point.rgb); | |||
| uint32_t rgb; | |||
| std::memcpy (&rgb, &point.rgb, sizeof (point.rgb)); | |||
| uint8_t grayvalue = static_cast<uint8_t>(0.2989 * static_cast<float>((rgb >> 16) & 0x0000ff) + | |||
| 0.5870 * static_cast<float>((rgb >> 8) & 0x0000ff) + | |||
| 0.1140 * static_cast<float>((rgb >> 0) & 0x0000ff)); | |||
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This also is totally outdated. A point that has color information will always have rgb, rgba, r, g, b, and a fields, all of them. So we can directly write 0.2989 * point.r + ....
SergioRAgostinho
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| @@ -230,8 +230,10 @@ main (int argc, char ** argv) | |||
| new_point.z = depth; | |||
| } | |||
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| uint32_t rgb = static_cast<uint32_t>(color_pixel[0]) << 16 | static_cast<uint32_t>(color_pixel[1]) << 8 | static_cast<uint32_t>(color_pixel[2]); | |||
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Sorry for being picky, but this is not needed. Default constructor will properly initialize Alpha to 255.
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Be as picky as you need. Everyone benefits in the end.
I pushed on a separate commit, because it's just easier to see the changes and because we can squash on github.
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Btw there's a typo in my commit message. It's supposed to be |
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Thanks! |
Suppress strict alias warning
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