import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
import numpy as np
import json
from KeyPointGenerator import KeyPointGenerator
from Graph import Graph
from Mesh import Mesh
if __name__ == '__main__':
with open('Models/Cloud_ToyScrew-Yellow-0.0005.json') as fin:
scene = np.array(json.load(fin))
kg = KeyPointGenerator(0.000, 0.1, 1, 1)
KeyPointGenerator.BinSize = 0.001
mesh = Mesh('Models/ToyScrew-Yellow.stl', KeyPointGenerator.BinSize)
mesh.cacheMeshDistance()
#origin, field = kg.distanceFieldFromCloud(scene, kg.BinSize)
origin, field = mesh.BoundingBoxOrigin, mesh.DistanceCache
skeleton = kg.findSkeleton(field)
g = Graph()
g.fromMatrix(skeleton)
g.prune(1, 1, 1)
ax = plt.gca(projection='3d')
cloud, _ = g.toCloud(g.Nodes.values())
cloud = (cloud + 0.5) * KeyPointGenerator.BinSize + origin
ax.scatter(cloud[:, 0], cloud[:, 1], cloud[:, 2])
components = g.getComponents()
print(list(map(len, components)))
for c in components:
c.prune(8, 1)
