import cv2
import h5py
import numpy as np
import argparse

def main():
    # 创建命令行参数解析器
    parser = argparse.ArgumentParser(description='从HDF5文件生成视频')
    parser.add_argument('--file_path', type=str, required=True, 
                       help='输入的HDF5文件路径')
    parser.add_argument('--output_path', type=str, default='./output.mp4',
                       help='输出视频文件路径 (默认: ./output.mp4)')
    parser.add_argument('--skip', type=int, default=1, help='跳过帧数')
    
    # 解析命令行参数
    args = parser.parse_args()
    
    hdf_file = args.file_path
    output_video = args.output_path
    skip = args.skip

    # 打开 HDF5 文件
    with h5py.File(hdf_file, "r") as f:
        video_data = f["/cam_data/human_camera"]
        robot_data = f["/cam_data/robot_camera"]

        print(len(video_data))

        fourcc = cv2.VideoWriter_fourcc(*"mp4v")
        out = cv2.VideoWriter(output_video, fourcc, 30.0, (852, 240))

        for i in range(0, video_data.shape[0], skip):
            frame = video_data[i]
            frame = np.uint8(frame)
            frame2 = robot_data[i]
            frame2 = np.uint8(frame2)
            frame = np.hstack([frame, frame2])
            out.write(frame)

        out.release()

if __name__ == "__main__":
    main()