import cv2
import numpy as np
from itertools import product
from rich.progress import track

from matrices_reader import *

VOXEL_SIZE = 2e-2
X_MIN, X_MAX = -2.0, 2.0
Y_MIN, Y_MAX = -2.0, 2.0
Z_MIN, Z_MAX = -2.0, 2.0

projection_matrices = matrices_reader('data/torus/matrices.txt')
nb_frame = len(projection_matrices)

points = np.array([[x, y, z, 1.0] for x, y, z in product(
    np.arange(X_MIN, X_MAX, VOXEL_SIZE),
    np.arange(Y_MIN, Y_MAX, VOXEL_SIZE),
    np.arange(Z_MIN, Z_MAX, VOXEL_SIZE))])

background = np.array([18, 18, 18])

for k in range(nb_frame):
    frame = cv2.imread(f'data/torus/torus{k+1:04}.png')
    proj_mat = projection_matrices[k]
    
    cam_points = proj_mat @ points.T
    cam_points /= cam_points[2,:]
    cam_points = np.round(cam_points, 0).astype(np.int32)

    visible = np.logical_and.reduce((0 <= cam_points[0,:], cam_points[0,:] < frame.shape[1], 0 <= cam_points[1,:], cam_points[1,:] < frame.shape[0]))
    cam_points = cam_points[:,visible]
    points = points[visible,:]

    solid = np.invert(((frame[cam_points[1,:],cam_points[0,:]] == background)).all(1))
    cam_points = cam_points[:,solid]
    points = points[solid,:]

for k in range(nb_frame):
    frame = cv2.imread(f'data/torus/torus{k+1:04}.png')
    # frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
    # frame = 255 * (frame == 18).astype(np.uint8)
    # frame = cv2.filter2D(frame, -1, np.ones((5, 5)) / 25)
    # frame = 255 * (frame > 255/2).astype(np.uint8)

    proj_mat = projection_matrices[k]
    
    cam_points = proj_mat @ points.T
    cam_points /= cam_points[2,:]
    cam_points = np.round(cam_points, 0).astype(np.int32)

    for cam_point in cam_points.T:
        cv2.circle(frame, (cam_point[0], cam_point[1]), 2, (255, 0, 0))
            

    cv2.imshow('Frame', frame)
    cv2.waitKey(0)