fix

app.py

@@ -34,8 +34,9 @@ with block:
     # UI
     with gr.Column():
         gr.Markdown(
-            '''# Segment Anything!🚀
-            The Segment Anything Model (SAM) produces high quality object masks from input prompts such as points or boxes, and it can be used to generate masks for all objects in an image. [**Official Project**](https://segment-anything.com/) [**Code**](https://github.com/facebookresearch/segment-anything).
+            '''# Segment Anything Model (SAM)
+            ## a new AI model from Meta AI that can "cut out" any object, in any image, with a single click 🚀
+            SAM is a promptable segmentation system with zero-shot generalization to unfamiliar objects and images, without the need for additional training. [**Official Project**](https://segment-anything.com/) [**Code**](https://github.com/facebookresearch/segment-anything).
             '''
         )
         with gr.Row():

inference.py

@@ -20,14 +20,14 @@ def PCL(mask, depth):
     rgb_mask = np.zeros((mask.shape[0], mask.shape[1], 3)).astype("uint8")
     rgb_mask[mask] = (255, 0, 0)
     depth_o3d = o3d.geometry.Image(depth)
-    image_o3d = o3d.geometry.Image(mask)
+    image_o3d = o3d.geometry.Image(rgb_mask)
     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))
     # Step 4: Convert PointCloud data to a NumPy array
     points = np.asarray(pcd.points)
     colors = np.asarray(pcd.colors)
-    mask = (colors[:, 0] == 1.0)
+    mask = (colors[:, 0] == 255)
     points = points[mask]
     colors = colors[mask]
     return points, colors