Update app.py

app.py

@@ -245,15 +245,7 @@ def pano_depth_to_world_points(depth, location):
             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)
@@ -305,6 +297,15 @@ def get_mesh(image, depth, blur_data, loadall):
     #mesh = trimesh.Trimesh(vertices=verts, faces=triangles, vertex_colors=colors)
     mesh.append(trimesh.PointCloud(verts, colors=clrs))
     mesh[len(mesh)-1].merge_vertices()
+
+    theta = locations[fnum]["heading"] / 180 * np.pi
+    phi = locations[fnum]["pitch"] / 180 * np.pi
+    center = [locations[fnum]["lat"], 0, locations[fnum]["lng"]]
+
+    r_matrix = trimesh.transformations.rotation_matrix(theta, [0, 1, 0], center)
+    mesh[len(mesh)-1].apply_transform(r_matrix)
+    r_matrix = trimesh.transformations.rotation_matrix(phi, [1, 0, 0], center)
+    mesh[len(mesh)-1].apply_transform(r_matrix)
     #material = trimesh.visual.texture.SimpleMaterial(image=image)
     #texture = trimesh.visual.TextureVisuals(uv=uv, image=image, material=material)
     #mesh.visual = texture