Update app.py

app.py

@@ -198,14 +198,23 @@ def pano_depth_to_world_points(depth, scale):
     lat = lat.flatten()
 
     # Convert to cartesian coordinates
-    x = radius * np.cos(lon) * np.sin(lat)
-    y = radius * np.cos(lat)
-    z = radius * np.sin(lon) * np.sin(lat)
+    x = np.cos(lon) * np.sin(lat)
+    y = np.cos(lat)
+    z = np.sin(lon) * np.sin(lat)
 
-    pts3d = np.stack([x, y, z], axis=1)
+    x_ = radius * x
+    y_ = radius * y
+    z_ = radius * z
+
+    _x = 255 * x
+    _y = 255 * y
+    _z = 255 * z
+
+    pts3d = np.stack([x_, y_, z_, _x, _y, _z], axis=1)
     uv = np.stack([lon, lat], axis=1)
+    lines = np.arange(0, depth.shape[0]*depth.shape[1], 1)
 
-    return [pts3d, uv]
+    return [pts3d, uv, lines]
 
 def rgb2gray(rgb):
     return np.dot(rgb[...,:3], [0.333, 0.333, 0.333])
@@ -216,6 +225,7 @@ def get_mesh(image, depth, scale):
     points = pano_depth_to_world_points(gdepth, scale)
     pts3d = points[0]
     uv = points[1]
+    lines = points[2]
     print('radius from depth - ok')
 
     # Create a trimesh mesh from the points
@@ -223,11 +233,13 @@ def get_mesh(image, depth, scale):
     # colors are the RGB values of the image
 
     verts = pts3d.reshape(-1, 3)
-    triangles = create_triangles(image.shape[0], image.shape[1])
-    print('triangles - ok')
+    #triangles = create_triangles(image.shape[0], image.shape[1])
+    #print('triangles - ok')
+    segments = trimesh.path.entities.Line(lines, closed=None, layer=None, metadata=None, color=None).explode()
     colors = image.reshape(-1, 3)
     #mesh = trimesh.Trimesh(vertices=verts, faces=triangles, vertex_colors=colors)
-    mesh = trimesh.PointCloud(verts, colors=colors)
+    mesh = trimesh.path.path.Path3D(vertices=verts, entities=[segments], colors=colors)
+    #mesh = trimesh.PointCloud(verts, colors=colors)
     #material = trimesh.visual.texture.SimpleMaterial(image=image)
     #texture = trimesh.visual.TextureVisuals(uv=uv, image=image, material=material)
     #mesh.visual = texture