 import os
import argparse
import csv
import numpy as np
from blenderproc.python import bp as bpy
from blenderproc.python import bproc asbp
from blenderproc.python.utils import utils as bu
from blenderproc.python.utils import geometry as bg
from blenderproc.python.utils import rendering as br
from blenderproc.python.utils import scene as bs

def load_scene_and_textures(scene_path, texture_path, material_path, output_dir):
objects = create_mesh_objects_from_file(scene_path)
materials = load_and_create(material_path)

object_material_mapping = {}
with open('object_material_mapping.csv', 'r') as csvfile:
csv_reader = csv.reader(csvfile, delimiter=',')
for row in csv_reader:
object_material_mapping[row[0]] = row[1]

for obj in objects:
mat_name = object_material_mapping[obj.name]
mat = materials[mat_name]
bp.ops.material.add(name=mat_name, object_names=[obj.name])

num_objects = len(objects)
num_objects_to_assign_materials = int(num_objects * 0.4)
object_indices = np.random.choice(num_objects, size=num_objects_to_assign_materials, replace=False)

for idx in object_indices:
objects[idx].material_name = np.random.choice(list(materials.keys()))

textures = load_and_create(texture_path)
for mat in materials.values():
if mat.texture_name in textures:
mat.texture_name = textures[mat.texture_name]

_assign_materials_to_floor_wall_ceiling(objects)

for obj in objects:
transform_and_colorize_object(obj)

floors, ceilings = bg.extract_floors_and_ceilings(objects)
for floor in floors:
floor.category_id = 1
for ceiling in ceilings:
ceiling.category_id = 2
ceiling.emission_strength = 0.1

lamp_objects = bpy.data.lights
for lamp in lamp_objects:
lamp.energy = 1000

bpy.context.scene.cycles.samples = 64

bvh_tree = create_bvh_tree_multi_objects(objects)

camera_locations = []
for obj in objects:
if obj.type == 'MESH' and 'camera' in obj.name.lower():
camera_locations.append(obj.location)

min_point, max_point = min_and_max_point(objects)
camera_location = np.mean([min_point, max_point], axis=0) + np.array([0, 0, 2])

while True:
clearance = 0.5
for obj in objects:
if obj.type == 'MESH':
dist = np.linalg.norm(np.array(obj.location) - camera_location)
if dist < clearance:
camera_location += np.array([0, 0, 1])
else:
break

bp.ops.camera.add(location=list(camera_location))

coverage_score = scene_coverage_score(bvh_tree, camera_location)
if coverage_score < 0.5:
bp.ops.camera.delete(location=list(camera_location))
else:
break

bp.ops.render.enable(engine='CYCLES')
bp.ops.render.enable(enable_normal_map=True)
bp.ops.render.enable(enable_depth_map=True)
bp.ops.render.enable(enable_instance_segmentation=True)

rendered_data = bp.ops.render.execute()

output_file = os.path.join(output_dir, 'rendered_data.hdf5')
bu.write_data(output_file, rendered_data)

if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--scene_path', type=str, required=True)
parser.add_argument('--texture_path', type=str, required=True)
parser.add_argument('--material_path', type=str, required=True)
parser.add_argument('--output_dir', type=str, required=True)
args = parser.parse_args()

load_scene_and_textures(args.scene_path, args.texture_path, args.material_path, args.output_dir)