#!/usr/bin/python

import math
import array
import csv
import sys
import operator
import os

def checkfloats(fbin):
	for i in range(3):
		if not((abs(fbin[i]) > 1e-10) and (abs(fbin[i]) < 1e6)): return False
	
	return True;





numargs = len(sys.argv)

rng = 1
if (numargs > 2):
	rng = int(sys.argv[2])

minmax = [0, 0, 0,  0, 0,0]
firstpass = True

output = []

for i in range(rng):

	filename = sys.argv[1] 
	if (rng > 1):
		filename = filename + str(i) + '.bin'
	
	fraw = open(filename,'rb') 
	filesize= os.path.getsize(filename)
		
	bsize = 14
	offset = filesize - (int(filesize/bsize) -1)*bsize


	bin = array.array('B')

	#bin.byteswap()

	#fout = open(outname,'wb')
	

	# print the header
	bin = array.array('B')
	bin.fromfile(fraw, offset) # 15)
	#for j in range(15):
	#	sys.stdout.write(str(bin[j]) + '\t')
	#print('\n');				

	fbin = array.array('f')
	fbin.fromfile(fraw, 3)

	bin = array.array('H')
	bin.fromfile(fraw, 1)

	count = 0;
	while(True): 
		#sys.stdout.write(str(count) + ',\t')
		fbin.byteswap()

		# in multipart files the header is very huge, I'm not sure how to parse it
		# but I do know that it generates bad floats, so just screen for bad floats:

		if checkfloats(fbin):
			line = []
			for j in range(3):
				line.append(str(fbin[j]))
				if firstpass:
					minmax[j] = fbin[j]
					minmax[3+j] = fbin[j]
				firstpass = False

				if (fbin[j] < minmax[j]): minmax[j] = fbin[j]
				if (fbin[j] > minmax[3 + j]): minmax[3 + j] = fbin[j]


			bin.byteswap()
			red = 	(bin[0] >> 11) & 0x1f
			green = (bin[0] >> 5)  & 0x3f
			blue =  (bin[0] >> 0)  & 0x1f
			
			red = int(red * 255 / 31)
			green = int(green * 255 / 63)
			blue = int(blue * 255 / 31)
			
			line.append(str(red))
			line.append(str(green))
			line.append(str(blue))
			
			output.append(line)
			#sys.stdout.write( ',\t' + str((bin[0] >> 5) & 0x1))

			#	sys.stdout.write("%#x \t" % v2)

		fbin = array.array('f')

		try:
			fbin.fromfile(fraw, 3)
		except: 
			break

		bin = array.array('H')
		bin.fromfile(fraw, 1)

		count = count+1

for j in range(3):
	sys.stderr.write(str(minmax[j]) + ', ' + str(minmax[3 + j]) + '\n') 
	

# Output

f = open("points.ply", "w")

f.write('''ply
format ascii 1.0
element vertex ''' + str(len(output)) + '''
property float x
property float y
property float z
property uchar red
property uchar green
property uchar blue
element face 0
property list uchar int vertex_index
end_header\n''')

for line in output:
	for item in line:
		f.write(item + ' ')
	f.seek(f.tell() - 1)
	f.write('\n')

f.write('0 0 0 0')

f.close()