diff --git a/src/main.py b/src/main.py
index 62279a9..9c3ed41 100644
--- a/src/main.py
+++ b/src/main.py
@@ -11,8 +11,8 @@ from fvi import fast_voxel_intersect
 
 VOXEL_SIZE = 5e-3
 X_MIN, X_MAX = 0.7, 1.3
-Y_MIN, Y_MAX = -0.1, 0.1
-Z_MIN, Z_MAX = -0.1, 0.1
+Y_MIN, Y_MAX = -0.05, 0.05
+Z_MIN, Z_MAX = -0.05, 0.05
 
 nb_frame = 24
 
@@ -35,7 +35,7 @@ for k in range(nb_frame):
         matrices = pickle.load(file) 
         proj_mat = matrices["P"]
         proj_mats.append(proj_mat)
-        position = matrices["RT"][:, 3]
+        position = -np.linalg.inv(matrices["RT"][:3,:3]) @ matrices["RT"][:3,3]
         positions.append(position)
 
     cam_points = proj_mat @ points.T
@@ -71,8 +71,7 @@ for k in range(nb_frame):
 #     cv2.imshow('Frame', frame)
 #     cv2.waitKey(0)
 
-
-voxel = np.zeros((int((X_MAX-X_MIN)/VOXEL_SIZE + 1), int((Y_MAX-Y_MIN)/VOXEL_SIZE + 1), int((Z_MAX-Z_MIN)/VOXEL_SIZE + 1)))
+voxel = np.zeros((int((X_MAX-X_MIN)/VOXEL_SIZE), int((Y_MAX-Y_MIN)/VOXEL_SIZE), int((Z_MAX-Z_MIN)/VOXEL_SIZE)))
 idx = np.floor_divide(points[:, :3] - np.array([X_MIN, Y_MIN, Z_MIN]), VOXEL_SIZE).astype(int)
 voxel[idx[:,0], idx[:,1], idx[:,2]] = 1
 
@@ -107,9 +106,11 @@ for idx in track(np.argwhere(border)):
 
         # si le rayon ne traverse aucun autre voxel entre le centre du voxel (idx) et le centre de la caméra
         _, _, voxels_intersected = fast_voxel_intersect(start, end, origin, step, shape)
-        print(f"ntm: {voxels_intersected}")
         voxels_intersected = np.array(voxels_intersected, dtype=np.int32)
-        visible = voxel[voxels_intersected].sum() == 0
+        if len(voxels_intersected) == 0:
+            visible = True
+        else:
+            visible = voxel[voxels_intersected[:, 0], voxels_intersected[:, 1], voxels_intersected[:, 2]].sum() == 0
 
         if visible:
             proj = proj_mats[i] @ np.array([start[0], start[1], start[2], 1.0])
@@ -119,8 +120,7 @@ for idx in track(np.argwhere(border)):
 
     # calcule écartype des valeurs
     std = np.std(values)
-    # print(std)
-    # print(values)
+    print(f"std: {std}, values: {values}, nb_values: {len(values)}")
 
     # changer le levelset en fonction de l'écartype
     if std < 2: