  import blenderproc
import os
import csv

# Parse command line arguments
scene_path = os.path.abspath(os.path.expanduser(sys.argv[1]))
texture_path = os.path.abspath(os.path.expanduser(sys.argv[2]))
material_path = os.path.abspath(os.path.expanduser(sys.argv[3]))
output_dir = os.path.abspath(os.path.expanduser(sys.argv[4]))

# Load scene and label objects
blenderproc.load_scene(scene_path)
blenderproc.label_objects(mapping_file=os.path.join(os.path.dirname(os.path.abspath(__file__)), "object_mapping.csv"))

# Load materials and randomly assign them to 40% of objects
blenderproc.load_materials(material_path)
blenderproc.assign_materials(0.4)

# Load textures for assigned materials
blenderproc.load_textures(texture_path)

# Extract floors and ceilings from wall objects and assign appropriate category IDs
blenderproc.extract_floors_and_ceilings()

# Make all lamp objects emit light and make all ceiling objects emit a bit of light
blenderproc.make_lamp_objects_emit_light()
blenderproc.make_ceiling_objects_emit_light()

# Create BVH tree containing all mesh objects and sample camera locations
blenderproc.create_bvh_tree()
blenderproc.sample_camera_locations()

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

# Render the scene and write data to .hdf5 file
blenderproc.render_scene()
blenderproc.write_data(output_dir)