Update app.py

app.py

@@ -112,16 +112,15 @@ 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
+        # save pcd to temporary .ply
         tmp_ply = tempfile.NamedTemporaryFile(suffix='.ply', delete=False)
-        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)
+        o3d.io.write_point_cloud(tmp_ply.name, pcd)
+        
+        vertices = np.asarray(pcd.points)
+        vertex_colors = (np.asarray(pcd.colors) * 255).astype(np.uint8)
+        mesh = trimesh.PointCloud(vertices=vertices, colors=vertex_colors)
+        tmp_glb = tempfile.NamedTemporaryFile(suffix='.glb', delete=False)
+        mesh.export(tmp_glb.name)
 
 
         # save raw depth (npy)
@@ -138,7 +137,7 @@ def main(share=True):
         tmp_concat = tempfile.NamedTemporaryFile(suffix='.png', delete=False)
         cv2.imwrite(tmp_concat.name, combined_result)
 
-        return [(image, colored_depth), tmp_ply.name, tmp_concat.name, tmp_raw_depth.name, tmp_ply.name]
+        return [(image, colored_depth), tmp_glb.name, tmp_concat.name, tmp_raw_depth.name, tmp_ply.name]
 
     with gr.Blocks(css=css) as demo:
         gr.Markdown(title)