Update app.py

app.py

@@ -196,8 +196,8 @@ def pano_depth_to_world_points(depth, scale):
     lon, lat = np.meshgrid(lon, lat)
 
     i = 0
-    pts3d = [None] * 9
-    uv = [None] * 9
+    pts3d = []
+    uv = []
     while i < 9:
         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]
@@ -209,8 +209,11 @@ def pano_depth_to_world_points(depth, scale):
         y = radius * np.cos(lat)
         z = radius * np.sin(lon) * np.sin(lat)
 
-        pts3d[i] = np.stack([x, y, z], axis=1)
-        uv[i] = np.stack([lon, lat], axis=1)
+        pts = np.stack([x, y, z], axis=1)
+        uvs = np.stack([lon, lat], axis=1)
+        
+        pts3d = np.concatenate((pts3d, pts), axis=0)
+        uv = np.concatenate((uv, uvs), axis=0)
         i = i+1
 
     return [pts3d, uv]
@@ -235,8 +238,11 @@ def get_mesh(image, depth, scale):
     #print('triangles - ok')
     rgba = cv2.cvtColor(image, cv2.COLOR_RGB2RGBA)
     colors = rgba.reshape(-1, 4)
-    colors_ = np.full(9, colors)
-    clrs = np.stack(colors_, axis=1)
+    clrs = []
+    i = 0
+    while i < 9:
+        clrs = np.concatenate((clrs, colors), axis=0)
+        i = i+1
     #mesh = trimesh.Trimesh(vertices=verts, faces=triangles, vertex_colors=colors)
     mesh = trimesh.PointCloud(verts, colors=clrs)
     #material = trimesh.visual.texture.SimpleMaterial(image=image)