Update app.py

app.py

@@ -200,26 +200,26 @@ def pano_depth_to_world_points(depth, scale):
     pts3d = [[0,0,0]]
     uv = [[0,0]]
     while i < 2:
-      while j < 2:
-        rnd_lon = 0 #(np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
-        rnd_lat = 0 #(np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
-        d_lon = (i/2 + rnd_lon) * np.pi*2 / depth.shape[1]
-        d_lat = (j/2 + rnd_lat) * np.pi / depth.shape[0]
-        lon = lon.flatten() + d_lon
-        lat = lat.flatten() + d_lat
-
-        # 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)
-
-        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)
-        j = j+1
-      i = i+1
+        while j < 2:
+            rnd_lon = 0 #(np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
+            rnd_lat = 0 #(np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
+            d_lon = (i/2 + rnd_lon) * np.pi*2 / depth.shape[1]
+            d_lat = (j/2 + rnd_lat) * np.pi / depth.shape[0]
+            lon = lon.flatten() + d_lon
+            lat = lat.flatten() + d_lat
+            
+            # 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)
+            
+            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)
+            j = j+1
+        i = i+1
 
     return [pts3d, uv]
 
@@ -243,7 +243,7 @@ def get_mesh(image, depth, scale):
     #print('triangles - ok')
     rgba = cv2.cvtColor(image, cv2.COLOR_RGB2RGBA)
     colors = rgba.reshape(-1, 4)
-    clrs = [[0,0,0,0]]
+    clrs = [[0.5, 0.5, 0.5, 0.0]]
     i = 0
     while i < 4:
         clrs = np.concatenate((clrs, colors), axis=0)