Update app.py

app.py

@@ -197,12 +197,12 @@ def pano_depth_to_world_points(depth, scale):
 
     pts3d = [[0,0,0]]
     uv = [[0,0]]
-    for i in range(0,2):
-        for j in range(0,2):
-            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]
+    for i in range(-0.25, 0.75):
+        for j in range(-0.25, 0.75):
+            #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 = i * np.pi*2 / depth.shape[1]
+            d_lat = j * np.pi / depth.shape[0]
             lon = lon.flatten() + d_lon
             lat = lat.flatten() + d_lat
             
@@ -217,8 +217,8 @@ def pano_depth_to_world_points(depth, scale):
             pts3d = np.concatenate((pts3d, pts), axis=0)
             uv = np.concatenate((uv, uvs), axis=0)
             print(f'i: {i}, j: {j}')
-            j = j+1
-        i = i+1
+            j = j+0.5
+        i = i+0.5
         
     return [pts3d, uv]