fix

utils.py

@@ -138,15 +138,15 @@ def array_PCL(rgb_image, depth_image):
     #cam_RGB = np.apply_along_axis(np.linalg.inv(R).dot, 1, pcd) - np.linalg.inv(R).dot(T)
     xx_rgb = ((rgb_image[:, 0] * FX_RGB) / rgb_image[:, 2] + CX_RGB + width / 2).astype(int).clip(0, width - 1)
     yy_rgb = ((rgb_image[:, 1] * FY_RGB) / rgb_image[:, 2] + CY_RGB).astype(int).clip(0, height - 1)
-    colors = rgb_image[yy_rgb, xx_rgb]/255
-    return pcd, colors
+    #colors = rgb_image[yy_rgb, xx_rgb]/255
+    return pcd#, colors
 
 def generate_PCL(image):
     depth_predictor = DepthPredictor()
     depth_result = depth_predictor.predict(image)
     image = np.array(image)
-    pcd, colors = array_PCL(image, depth_result)
-    fig = px.scatter_3d(x=pcd[:, 0], y=pcd[:, 1], z=pcd[:, 2], color=colors, size_max=0.1)
+    pcd = array_PCL(image, depth_result)
+    fig = px.scatter_3d(x=pcd[:, 0], y=pcd[:, 1], z=pcd[:, 2], size_max=0.1)
     return fig