going home commit

app.py

@@ -77,9 +77,7 @@ with block:
         image = inputs[raw_image]
         generated_mask, _, _ = sam.cond_pred(pts=np.array(inputs[point_coords]), lbls=np.array(inputs[point_labels]))
         inputs[masks].append((generated_mask, inputs[text]))
-        return {masks_annotated_image: (image, inputs[masks]), 
-                masks: generated_mask, 
-                cutout_idx: set()}
+        return {masks_annotated_image: (image, inputs[masks])}
     sam_decode_btn.click(on_click_sam_dencode_btn, components, [masks_annotated_image, masks, cutout_idx], queue=True)
     #sam_sgmt_everything_btn.click(on_sam_sgmt_everything_click, components, [masks_annotated_image, masks, cutout_idx], queue=True)
 

utils.py

@@ -109,3 +109,34 @@ def point_cloud(rgb_image, depth_image):
     fig = px.scatter_3d(df, x='x', y='y', z='z', color='red', size_max=0.1)
     
     return fig
+
+def array_PCL(rgb_image, depth_image):
+    FX_RGB = 5.1885790117450188e+02
+    FY_RGB = 5.1946961112127485e+02
+    CX_RGB = 3.2558244941119034e+0
+    CY_RGB = 2.5373616633400465e+02
+    FX_DEPTH = FX_RGB
+    FY_DEPTH = FY_RGB
+    CX_DEPTH = CX_RGB
+    CY_DEPTH = CY_RGB
+    height = depth_image.shape[0]
+    width = depth_image.shape[1]
+    # compute indices:
+    jj = np.tile(range(width), height)
+    ii = np.repeat(range(height), width)
+
+    # Compute constants:
+    xx = (jj - CX_DEPTH) / FX_DEPTH
+    yy = (ii - CY_DEPTH) / FY_DEPTH
+
+    # transform depth image to vector of z:
+    length = height * width
+    z = depth_image.reshape(length)
+
+    # compute point cloud
+    pcd = np.dstack((xx * z, yy * z, z)).reshape((length, 3))
+    #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