open3D 中的 RGB 颜色问题

Question

我在python中使用Open3D库。除了 XYZ 坐标外，还有与之关联的 RGB 值。我的代码能够识别 RGB 值，当它是 255 或 0 时，1 到 254 之间的任何值，代码无法识别并且点没有关联的颜色。

import numpy as np
import open3d as o3d
import pandas as pd
import matplotlib.pyplot as plt
if __name__ == "__main__":
data = pd.read_csv("C:\Users\User\Downloads\OneDrive-2019-12-06\3D TUNNEL SCAN.txt", sep="t", header=None)

data.columns = ["X", "Y", "Z", "R", "G", "B"]
X = data["X"].to_numpy()
Y = data["Y"].to_numpy()
Z = data["Z"].to_numpy()
R = data["R"].to_numpy()
G = data["G"].to_numpy()
B = data["B"].to_numpy()
rgb = np.asarray([R,G,B])
rgb_t = np.transpose(rgb)
print()
print(rgb_t)
xyz = np.asarray([X,Y,Z])
xyz_t = np.transpose(xyz)
print(xyz_t)

pcd = o3d.geometry.PointCloud()
pcd = o3d.PointCloud.colors()
pcd.points = o3d.utility.Vector3dVector(xyz_t)
pcd.colors = o3d.utility.Vector3dVector(rgb_t)
o3d.io.write_point_cloud("C:\Users\User\PycharmProjects\open_3d\Open3D-master\examples\TestData\3D_scanned_data.ply", pcd)
pcd_2 = o3d.io.read_point_cloud("C:\Users\User\PycharmProjects\open_3d\Open3D-master\examples\TestData\3D_scanned_data.ply")
o3d.visualization.draw_geometries([pcd_2],window_name="Tunnel", width=700,height=700,left=50,top=50)

Answer 1

Open3D 假设 PointCloud 的颜色值为浮点型，范围为 [0， 1]，如文档中所述。

将代码更改为：pcd.colors = o3d.utility.Vector3dVector(rgb_t.astype(np.float) / 255.0)