invert depth map

inference.py

@@ -39,7 +39,7 @@ class DepthPredictor:
         return formatted
     
     def generate_pcl(self, image):
-        depth = self.predict(image)
+        depth = 255 - self.predict(image)
         # Step 2: Create an RGBD image from the RGB and depth image
         depth_o3d = o3d.geometry.Image(depth)
         image_o3d = o3d.geometry.Image(np.array(image))
@@ -83,7 +83,7 @@ class DepthPredictor:
         # Create cubes and add them to the mesh
         for point, color in zip(point_cloud, color_array):
             cube = o3d.geometry.TriangleMesh.create_box(width=0.000005, height=0.000005, depth=0.000005)
-            cube.translate(-point)
+            cube.translate(point)
             cube.paint_uniform_color(color)
             mesh += cube
         # Save the mesh to an .obj file