import numpy as np
from scipy.ndimage import distance_transform_edt, gaussian_filter, zoom, median_filter
import matplotlib.pyplot as plt
from skimage.measure import marching_cubes
from scipy.ndimage import binary_fill_holes, label
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
from scipy.spatial import Delaunay
from scipy.interpolate import griddata
# import trimesh

def compute_sdf(voxel_matrix):
    inside_dist = distance_transform_edt(voxel_matrix)
    outside_dist = distance_transform_edt(1 - voxel_matrix)
    sdf = outside_dist - inside_dist
    # sdf = gaussian_filter(sdf, sigma=3.0)
    sdf = sdf / 32.0
    sdf = sdf.clip(-0.2, 0.2)
    return sdf