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A good place to start is the API documentation.

For example, the pcl::Poincloud doc shows you that you can get any point by indexing into it with the [] operator, like an array.

The PointXYZRGB description isn't as clear, but it does tell you it's a struct (meaning all members are public), and if you dig through the header files you'll find you can access the values via point.x, .y, .z, etc.

A good place to start is the API documentation.

For example, the pcl::Poincloud doc shows you that you can get any point by indexing into it with the [] operator, like an array.

The PointXYZRGB description isn't as clear, but it does tell you it's a struct (meaning all members are public), and if you dig through the header files you'll find you can access the values via point.x, .y, .z, etc.

A good place to start is the API documentation.

For example, the pcl::Poincloud doc shows you that you can get any point by indexing into it the cloud with the [] operator, like an array.

The PointXYZRGB description isn't as clear, but it does tell you it's a struct (meaning all members are public), and you'll find you can access the values via point.x, .y, .z, etc.