Update app.py

app.py

@@ -237,15 +237,23 @@ def pano_depth_to_world_points(depth, location):
         for j in range(0, 1): #(0,2)
             #rnd_lon = (np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
             #rnd_lat = (np.random.rand(depth.shape[0]*depth.shape[1]) - 0.5) / 8
-            d_lon = lon + i/2 * np.pi*2 / depth.shape[1] #+ location["heading"] / 180 * np.pi
-            d_lat = lat + j/2 * np.pi / depth.shape[0] #+ location["pitch"] / 180 * np.pi
+            d_lon = lon + i/2 * np.pi*2 / depth.shape[1]
+            d_lat = lat + j/2 * np.pi / depth.shape[0]
             
             # Convert to cartesian coordinates
             x = radius * np.cos(d_lon) * np.sin(d_lat) + location["lat"]
             y = radius * np.cos(d_lat)
             z = radius * np.sin(d_lon) * np.sin(d_lat) + location["lng"]
+
+            theta = location["heading"] / 180 * np.pi
+            phi = location["pitch"] / 180 * np.pi
+
+            x_ = x*np.cos(phi)*np.cos(theta) - y*np.sin(theta) + z*np.sin(phi)*np.cos(theta)
+            y_ = x*np.sin(theta)*np.cos(phi) + y*np.cos(theta) + z*np.sin(phi)*np.sin(theta)
+            z_ = -x*np.sin(phi) + z*np.cos(phi)
+            #https://www.physicsforums.com/threads/rotate-points-on-sphere-by-theta-and-phi.1014278/
             
-            pts = np.stack([x, y, z], axis=1)
+            pts = np.stack([x_, y_, z_], axis=1)
             uvs = np.stack([lon, lat], axis=1)
             
             pts3d = np.concatenate((pts3d, pts), axis=0)