From fdb94d2a550491ac4b4c408104963684f00ecdf2 Mon Sep 17 00:00:00 2001
From: gdamms <damguillotin@gmail.com>
Date: Fri, 20 Jan 2023 11:21:23 +0100
Subject: [PATCH] =?UTF-8?q?Co-authored-by:=20pejour=20<pejour@users.norepl?=
 =?UTF-8?q?y.github.com>=20Co-authored-by:=20Laure=CE=B7t=20<laurent@fains?=
 =?UTF-8?q?in.bzh>?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/main.py | 44 +++++++++++++++++++++++++++-----------------
 1 file changed, 27 insertions(+), 17 deletions(-)

diff --git a/src/main.py b/src/main.py
index 5fa6190..7bcb606 100644
--- a/src/main.py
+++ b/src/main.py
@@ -4,7 +4,10 @@ from itertools import product
 import pickle
 import matplotlib.pyplot as plt
 
-VOXEL_SIZE = 3e-2
+
+from borders import update_border
+
+VOXEL_SIZE = 6e-2
 X_MIN, X_MAX = -1.5, 1.5
 Y_MIN, Y_MAX = -1.5, 1.5
 Z_MIN, Z_MAX = -0.5, 0.5
@@ -38,30 +41,37 @@ for k in range(nb_frame):
     cam_points = cam_points[:,solid]
     points = points[solid,:]
 
-    for cam_point in cam_points.T:
+    # for cam_point in cam_points.T:
         # cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255*is_in[k], 0, 255*(not is_in[k])))
-        cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255, 0, 255))
+        # cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255, 0, 255))
 
-for k in range(nb_frame):
-    frame = cv2.imread(f'/tmp/masks/Image{k:04}.png')
+# for k in range(nb_frame):
+#     frame = cv2.imread(f'/tmp/masks/Image{k:04}.png')
 
-    with open(f"/tmp/cameras/{k:04d}.pickle", 'rb') as file:
-        proj_mat = pickle.load(file)["P"]
+#     with open(f"/tmp/cameras/{k:04d}.pickle", 'rb') as file:
+#         proj_mat = pickle.load(file)["P"]
 
-    cam_points = proj_mat @ points.T
-    cam_points /= cam_points[2,:]
-    cam_points = np.round(cam_points).astype(np.int32)
+#     cam_points = proj_mat @ points.T
+#     cam_points /= cam_points[2,:]
+#     cam_points = np.round(cam_points).astype(np.int32)
 
-    for cam_point in cam_points.T:
-        # cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255*is_in[k], 0, 255*(not is_in[k])))
-        cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255, 0, 255))
+#     for cam_point in cam_points.T:
+#         # cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255*is_in[k], 0, 255*(not is_in[k])))
+#         cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255, 0, 255))
 
-    cv2.imshow('Frame', frame)
-    cv2.waitKey(0)
+#     cv2.imshow('Frame', frame)
+#     cv2.waitKey(0)
+    
+    
+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
+
+border = update_border(voxel)
 
 # 3D plot the result
 fig = plt.figure()
 ax = fig.add_subplot(111, projection='3d')
-ax.scatter(points[:,0], points[:,1], points[:,2], c='r', marker='o')
-plt.axis("equal")
+ax.scatter(np.where(border)[0], np.where(border)[1], np.where(border)[2], c='b', marker='o', s=1)
+plt.axis('equal')
 plt.show()