Update app.py

app.py

@@ -190,31 +190,24 @@ def pano_depth_to_world_points(depth, scale):
 
     # Convert depth to radius
     radius = (255 - depth.flatten()) * scale
+    d_lon = (np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) * np.pi*2 / depth.shape[1]
+    d_lat = (np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) * np.pi / depth.shape[0]
 
     lon = np.linspace(0, np.pi*2, depth.shape[1])
     lat = np.linspace(0, np.pi, depth.shape[0])
     lon, lat = np.meshgrid(lon, lat)
-    lon = lon.flatten()
-    lat = lat.flatten()
+    lon = lon.flatten() + d_lon
+    lat = lat.flatten() + d_lat
 
     # Convert to cartesian coordinates
-    x = np.cos(lon) * np.sin(lat)
-    y = np.cos(lat)
-    z = np.sin(lon) * np.sin(lat)
+    x = radius * np.cos(lon) * np.sin(lat)
+    y = radius * np.cos(lat)
+    z = radius * np.sin(lon) * np.sin(lat)
 
-    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)
+    pts3d = np.stack([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, lines]
+    return [pts3d, uv]
 
 def rgb2gray(rgb):
     return np.dot(rgb[...,:3], [0.333, 0.333, 0.333])
@@ -225,7 +218,6 @@ 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
@@ -235,14 +227,10 @@ def get_mesh(image, depth, scale):
     verts = pts3d.reshape(-1, 3)
     #triangles = create_triangles(image.shape[0], image.shape[1])
     #print('triangles - ok')
-    segments = trimesh.path.entities.Line(lines).explode()
     rgba = cv2.cvtColor(image, cv2.COLOR_RGB2RGBA)
     colors = rgba.reshape(-1, 4)
-    print(segments[0])
-    print(colors[0])
     #mesh = trimesh.Trimesh(vertices=verts, faces=triangles, vertex_colors=colors)
-    mesh = trimesh.path.path.Path3D(vertices=verts, entities=[segments], colors=[colors])
-    #mesh = trimesh.PointCloud(verts, 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