init

app.py

@@ -50,9 +50,12 @@ with gr.Blocks(css=CSS) as demo:
 
     with gr.Row():
         input_image = gr.Image(label="Input Image", type='numpy', elem_id='img-display-input')
-        output_image = gr.Image(label="Range Map", elem_id='img-display-output')
+        with gr.Column():
+            output_image = gr.Image(label="Output Range Map", elem_id='img-display-output')
+            output_pcd = gr.Model3D(label="Output Point Cloud", elem_id='pcd-display-output', interactive=False)
+
     raw_file = gr.File(label="Point Cloud (.txt file). Can be viewed through Meshlab")
-    submit = gr.Button("Submit")
+    submit = gr.Button("Generate")
 
     def on_submit(image):
         cond = load_camera(image)
@@ -63,14 +66,14 @@ with gr.Blocks(css=CSS) as demo:
 
         rgb_img = colorize_depth(img, log_scale=True)
 
-        return [rgb_img, tmp.name]
+        return [rgb_img, pcd, tmp.name]
 
-    submit.click(on_submit, inputs=[input_image], outputs=[output_image, raw_file])
+    submit.click(on_submit, inputs=[input_image], outputs=[output_image, output_pcd, raw_file])
 
     example_files = sorted(os.listdir('cam_examples'))
     example_files = [os.path.join('cam_examples', filename) for filename in example_files]
-    examples = gr.Examples(examples=example_files, inputs=[input_image], outputs=[output_image, raw_file],
-                           fn=on_submit, cache_examples=True)
+    examples = gr.Examples(examples=example_files, inputs=[input_image], outputs=[output_image, output_pcd, raw_file],
+                           fn=on_submit, cache_examples=False)
 
     gr.Markdown(FOOTER)
 

app_config.py

@@ -2,13 +2,16 @@ import torch
 
 CSS = """
 #img-display-container {
-    max-height: 100vh;
+    max-height: 160vh;
     }
 #img-display-input {
-    max-height: 80vh;
+    max-height: 140vh;
     }
 #img-display-output {
-    max-height: 80vh;
+    max-height: 70vh;
+    }
+#pcd-display-output {
+    max-height: 70vh;
     }
 """
 DEVICE = 'cuda' if torch.cuda.is_available() else 'cpu'
@@ -30,4 +33,4 @@ FOOTER = r"""
     year={2024}
 }
 ```
-"""
+"""