fix

utils.py

@@ -156,10 +156,13 @@ def plot_PCL(rgb_image, depth_image):
     return fig
 
 
-def PCL3(rgb_image, depth_image):
+def PCL3(image):
+    depth_predictor = DepthPredictor()
+    depth_result = depth_predictor.predict(image)
+    image = np.array(image)
     # Step 2: Create an RGBD image from the RGB and depth image
-    depth_o3d = o3d.geometry.Image(depth_image)
-    image_o3d = o3d.geometry.Image(rgb_image)
+    depth_o3d = o3d.geometry.Image(depth_result)
+    image_o3d = o3d.geometry.Image(image)
     rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(image_o3d, depth_o3d, convert_rgb_to_intensity=False)
     # Step 3: Create a PointCloud from the RGBD image
     pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))