Function for unpacking RGB point field from point in point cloud?

edit

I don't know of anything like that in the ros pcl code itself, but maybe you can use the openni_camera::RGBValue union. (you can find it here at line 55: https://kforge.ros.org/openni/openni_ros/file/5414d278b8a5/openni_camera/src/openni_nodelet.cpp

As an example of how to use it:

pcl::PointXYZRGB pt = ...

openni_camera::RGBValue color = (openni_camera::RGBValue) pt.rgb;

// Fill in color 
color.Red   = (const uint8_t) 0xFF;
color.Green = (const uint8_t) 0x00;
color.Blue  = (const uint8_t) 0x00;
color.Alpha = 0; 
float float_rgb = color.float_value;

// Or the other way around
color.float_value = 0xFF0000;
unsigned char red = color.Red;
unsigned char green = color.Green;
unsigned char blue = color.Blue;