  import blenderproc
import argparse
import os

def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("--input_obj", type=str, required=True, help="Path to the .obj file containing the 3D scene")
    parser.add_argument("--input_textures", type=str, required=True, help="Path to the directory containing the texture files")
    parser.add_argument("--output_dir", type=str, required=True, help="Path to the output directory where the .hdf5 file will be saved")
    parser.add_argument("--mapping", type=str, required=True, help="Path to the mapping file that specifies the labels for each object in the scene")
    args = parser.parse_args()

    # Initialize the blenderproc library
    blenderproc.init()

    # Load the scene from the .obj file and texture files
    scene = blenderproc.load_scene(args.input_obj, args.input_textures)

    # Label the objects in the scene based on the provided mapping
    scene.label_objects(args.mapping)

    # Separate walls, floors, and ceilings into distinct objects and assign them appropriate labels
    walls, floors, ceilings = scene.separate_walls_floors_ceilings()
    walls.label = "wall"
    floors.label = "floor"
    ceilings.label = "ceiling"

    # Make lamp and ceiling objects emit light
    scene.set_light_emission(True)

    # Create a bounding volume hierarchy (BVH) tree containing all objects in the scene
    bvh = scene.create_bvh()

    # Sample camera locations and rotations above the floor, ensuring there are no obstacles in front of the camera and that the scene coverage score is not too low
    camera_poses = scene.sample_camera_poses(bvh, floor_height=0.5, min_coverage_score=0.5)

    # Add camera poses to the scene
    for pose in camera_poses:
        scene.add_camera_pose(pose)

    # Enable normal, depth, and segmentation rendering
    scene.enable_rendering(blenderproc.RenderingMode.NORMAL)
    scene.enable_rendering(blenderproc.RenderingMode.DEPTH)
    scene.enable_rendering(blenderproc.RenderingMode.SEGMENTATION)

    # Render the scene and write the data to a .hdf5 file in the specified output directory
    scene.render(args.output_dir)

if __name__ == "__main__":
    main()