


```
import argparse
import os
import sys

import bpy
import bpy_extras
import numpy as np
from blenderproc.main import blenderproc_run
from blenderproc.utils import (
    get_the_one_node_with_type,
    get_node_connected_to_the_output_and_unlink_it,
    check_if_setup_utilities_are_at_the_top,
    create_mesh_objects_from_file,
    replace_objects,
    get_all_mesh_objects,
    merge_objects,
    visible_objects,
    _colorize_objects_for_instance_segmentation,
    load_and_create,
    transform_and_colorize_object,
    get_all_blender_mesh_objects,
    get_type_and_value_from_mat,
    join_with_other_objects,
    create_bvh_tree_multi_objects,
    set_camera_parameters_from_config_file,
    load_bop_scene,
    min_and_max_point,
    from_csv,
    light_suncg_scene,
)


def main():
    parser = argparse.ArgumentParser(
        description="Generate code that performs the following tasks using the blenderproc library:"
    )
    parser.add_argument(
        "--house_json_path",
        type=str,
        help="Path to the house.json file to load into the scene.",
    )
    parser.add_argument(
        "--chair_object_path",
        type=str,
        help="Path to the chair object to replace existing chair objects in the scene.",
    )
    parser.add_argument(
        "--output_directory",
        type=str,
        help="Optional output directory to write the rendered data to.",
        default="./",
    )
    args = parser.parse_args()

    if not os.path.isfile(args.house_json_path):
        print(f"House json file not found: {args.house_json_path}")
        sys.exit(1)

    if not os.path.isfile(args.chair_object_path):
        print(f"Chair object file not found: {args.chair_object_path}")
        sys.exit(1)

    if not os.path.isdir(args.output_directory):
        print(f"Output directory not found: {args.output_directory}")
        sys.exit(1)

    # Initialize blenderproc
    blenderproc_run()

    # Load objects from the house.json file into the scene using a label mapping from a csv file
    load_bop_scene(args.house_json_path, from_csv("label_map.csv"))

    # Load a chair object from the provided path and replace all chair objects in the scene with this chair object
    chair_object = create_mesh_objects_from_file(args.chair_object_path)[0]
    replace_objects(
        get_all_mesh_objects(),
        chair_object,
        copy_properties=True,
        random_rotation_z=True,
        ignore_collisions=True,
    )

    # Filter out invalid objects from the scene
    visible_objects(get_all_mesh_objects())

    # Make all Suncg objects in the scene emit light
    light_suncg_scene()

    # Initialize a point sampler for sampling locations inside the loaded house and a bvh tree containing all mesh objects
    point_sampler = bpy.context.scene.objects["PointSampler"]
    bvh_tree = create_bvh_tree_multi_objects(get_all_blender_mesh_objects())

    # Sample camera poses inside the house, ensuring that obstacles are at least 1 meter away from the camera and the view covers at least 40% of the scene
    camera_poses = []
    for _ in range(10):
        camera_pose = point_sampler.sample_point(
            min_distance_to_obstacle=1.0, min_polygon_area=0.4
        )
        if camera_pose is not None:
            camera_poses.append(camera_pose)

    # Add these camera poses to the scene
    for camera_pose in camera_poses:
        camera = bpy.data.objects["Camera"]
        camera.location = camera_pose["position"]
        camera.rotation_euler = camera_pose["rotation_euler"]
        set_camera_parameters_from_config_file(camera, "camera_parameters.json")

    # Enable normal, depth, and segmentation rendering
    node_tree = bpy.context.scene.node_tree
    render_layers_node = get_the_one_node_with_type(
        node_tree, "CompositorNodeRLayers"
    )
    depth_node = node_tree.nodes.new("CompositorNodeOutputFile")
    depth_node.base_path = args.output_directory
    depth_node.file_slots[0].path = "depth_####"
    normal_node = node_tree.nodes.new("CompositorNodeOutputFile")
    normal_node.base_path = args.output_directory
    normal_node.file_slots[0].path = "normal_####"
    segmentation_node = node_tree.nodes.new("CompositorNodeOutputFile")
    segmentation_node.base_path = args.output_directory
    segmentation_node.file_slots[0].path = "segmentation_####"

    # Add an alpha channel to textures
    for material in bpy.data.materials:
        material.blend_method = "HASHED"

    # Render the scene and write the rendered data to a .hdf5 file in the specified output directory
    output_file_path = os.path.join(args.output_directory, "output.hdf5")
    blenderproc_run(output_file_path)


if __name__ == "__main__":
    main()
```

This code performs the following tasks:

1.  Parses command line arguments for a house.json file path, a chair object path, and an optional output directory.
2.  Initializes blenderproc.
3.  Loads objects from the house.json file into the scene using a label mapping from a csv file.
4.  Loads a chair object from the provided path and replaces all chair objects in the scene with this chair object. The replacement should ignore collisions with floor objects and copy properties from the original objects. The pose of the new chair objects should be randomly rotated around the z-axis.
5.  Filters out invalid objects from the scene.
6.  Makes all Suncg objects in the scene emit light.
7.  Initializes a point sampler for sampling locations inside the loaded house and a bvh tree containing all mesh objects.
8.  Samples camera poses inside the house, ensuring that obstacles are at least 1 meter away from the camera and the view covers at least 40% of the scene. Add these camera poses to the scene.
9.  Enables normal, depth, and segmentation rendering. Add an alpha channel to textures.
10. Renders the scene and writes the rendered data to a .hdf5 file in the specified output directory.

Please note that this code is not tested and may require some modifications to work correctly. Additionally, it may not be the most efficient or effective way to achieve the desired results. If you have any questions or concerns, feel free to ask! 😊