open3d点云渲染颜色

open3d 颜色取值范围是0-1，随机代码中随机生成0-1浮点数，渲染点云

#include <iostream>
#include <Open3D/Open3D.h>

using namespace std;

int main(int argc, char* argv[])
{
	// --------------------------------读取点云------------------------------------- 
	auto cloud = std::make_shared<open3d::geometry::PointCloud>();

	if (open3d::io::ReadPointCloud("data//plant.pcd", *cloud) == 0)
	{
		open3d::utility::LogInfo("点云读取失败！！！");
		return -1;
	}
	// ------------------------------点云随机赋色------------------------------------
	open3d::utility::LogInfo("点云随机赋色");
	if (!cloud->HasColors())
	{ 
		cloud->PaintUniformColor(Eigen::Vector3d(0, 0, 0));
	}
	srand(time(NULL));//设置随机数种子，使每次产生的随机序列不同
	for (size_t i = 0; i < cloud->points_.size(); i++)
	{
		double R = rand() % (256) + 0;
		double G = rand() % (256) + 0;
		double B = rand() % (256) + 0;
		R /= 255.0;
		G /= 255.0;
		B /= 255.0;
		Eigen::Vector3d RandomColor = { R, G, B };
		cloud->colors_[i] = RandomColor;
	}

	open3d::visualization::DrawGeometries({ cloud }, "Random Color Cloud", 1600, 900);

	return 0;
}