color fixed

Author: vallabh1

example_client.py

@@ -68,7 +68,7 @@ def main():
    print(type(map_data['points']))
 
    points = np.array(map_data['points'])
-   colors = np.array(map_data['colors'])/256.0
+   colors = np.array(map_data['colors'])/255.0
    print(colors.shape)
    print(colors[0:50])
    visualize_point_cloud_color(points, colors)

mapping/reconstruction.py

@@ -290,6 +290,8 @@ def update_vbg(self,depth,intrinsic,pose,color = None,semantic_label = None, sce
     def update_color(self,color,depth,valid_voxel_indices,mask_inlier,w,wp,v_proj,u_proj):
         #performing color integration
         color = cv2.resize(color,(depth.columns,depth.rows),interpolation= cv2.INTER_NEAREST)
+        color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB)
+        color = color.astype(np.float32) / 255.0
         color = o3d.t.geometry.Image(o3c.Tensor(color.astype(np.float32))).to(self.device)
         color_readings = color.as_tensor()[v_proj,u_proj].to(o3c.float32)
         color = self.vbg.attribute('color').reshape((-1, 3))