import laspy
import numpy as np
import progress as prog
from octree import node
from pyproj import CRS
from pyproj import Transformer

def clearTemps():
    import os
    if (os.path.exists("output/tmp")):
        for f in os.listdir("output/tmp"):
            if (f.endswith(".tmp")):
                os.remove("output/tmp/" + f)
        for f in os.listdir("output"):
            if (f.endswith(".pnts") or f.endswith(".json")):
                os.remove("output/" + f)

def comput_4978(epsg_in,points):
    crs_in = CRS.from_epsg(epsg_in)
    crs_out = CRS.from_epsg(4978)
    transformer = Transformer.from_crs(crs_in,crs_out)
    result_4978 = []
    for index,value in enumerate(points):
        item = transformer.transform(value[0],value[1],value[2])
        result_4978.append(list(item))

    return np.array(result_4978)

def loadFile():
    # Clear temporary file content to facilitate repeated experiments
    clearTemps()

    f = laspy.read('./data/new_file.las')

    points = np.vstack((f.x, f.y, f.z)).transpose()

    print(points)
    zuo = points[:,0:2]
    you = points[:,2]
    you = you +200
    you = you.reshape(len(you),1)
    points = np.concatenate((zuo,you),axis=1)
    points = comput_4978(32649,points)
    print("Coordinate conversion completed")
    minBounds = list(np.min(points,axis=0))
    maxBounds = list(np.max(points,axis=0))
    # Repeated value processing of point cloud
    print(len(np.unique(points,axis=1)))
    length = len(points)
    print("max boundary："+str(minBounds)+'-->'+str(maxBounds))

    count = 0

    root_oct = node({'min': np.array(minBounds),
                     'max': np.array(maxBounds)})
    
    for pnt in points:
        x,y,z = pnt
        p = {'x': x,
            'y': y,
            'z': z}
        count += 1
        root_oct.addPoint(p)
        if (count % length//10 == 0):
            prog.printProgressBar(count, length, 'Processing Octree')

    print("octree end")



    # Parent node downsampling, rewrite the tmp file
    root_oct.write_tmp()

    root_oct.writePnts()

    root_oct.writeJson()
    print("result")




if __name__ == '__main__':
    loadFile()