fix

utils.py

@@ -5,6 +5,7 @@ import plotly.express as px
 import numpy as np
 import pandas as pd
 from inference import DepthPredictor
+import matplotlib.pyplot as plt
 
 def create_3d_obj(rgb_image, depth_image, depth=10, path='./image.gltf'):
     depth_o3d = o3d.geometry.Image(depth_image)
@@ -169,4 +170,16 @@ def PCL3(image):
     # Step 4: Convert PointCloud data to a NumPy array
     vis = o3d.visualization.Visualizer()
     vis.add_geometry(pcd)
-    return vis
+    # Step 4: Convert PointCloud data to a NumPy array
+    points = np.asarray(pcd.points)
+    colors = np.asarray(pcd.colors)
+    # Step 5: Create a DataFrame from the NumPy arrays
+    #data = {'x': points[:, 0], 'y': points[:, 1], 'z': points[:, 2],
+    #        'red': colors[:, 0], 'green': colors[:, 1], 'blue': colors[:, 2]}
+    #df = pd.DataFrame(data)
+    # Step 6: Create a 3D scatter plot using Plotly Express
+    #fig = px.scatter_3d(df, x='x', y='y', z='z', color='red', size_max=0.1)
+    fig = plt.figure()
+    ax = fig.add_subplot(projection='3d')
+    ax.scatter(points[:, 0], points[:, 1], points[:, 2], marker='o', s=0.01, c=colors)
+    return fig