Update app.py

app.py

@@ -112,13 +112,20 @@ def main(share=True):
             cl, ind = pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=3.0)
             pcd = pcd.select_by_index(ind)
 
+        points = np.asarray(pcd.points, dtype=np.float32)
+        colors = np.asarray(pcd.colors, dtype=np.float32)  # [0,1]
+        colors = (colors * 255).astype(np.uint8)
+
         # save pcd to temporary .ply for Model3D
         tmp_ply = tempfile.NamedTemporaryFile(suffix='.ply', delete=False)
-        o3d.io.write_point_cloud(tmp_ply.name, pcd)
+        pcd_to_save = o3d.geometry.PointCloud()
+        pcd_to_save.points = o3d.utility.Vector3dVector(points)
+        pcd_to_save.colors = o3d.utility.Vector3dVector(colors)
+        o3d.io.write_point_cloud(tmp_ply.name, pcd_to_save)
 
-        depth = cv2.resize(ppd_depth, (W, H), interpolation=cv2.INTER_LINEAR)
 
         # save raw depth (npy)
+        depth = cv2.resize(ppd_depth, (W, H), interpolation=cv2.INTER_LINEAR)
         tmp_raw_depth = tempfile.NamedTemporaryFile(suffix='.npy', delete=False)
         np.save(tmp_raw_depth.name, depth)